diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index ecd402bd9a..25e861d25b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -750,15 +750,15 @@ MulticopterPositionControl::run()
 				limit_altitude(setpoint);
 			}
 
-			// Update states, setpoints and constraints.
-			_control.updateConstraints(constraints);
-			_control.updateState(_states);
-
 			// adjust setpoints based on avoidance
 			if (use_obstacle_avoidance()) {
 				execute_avoidance_waypoint(setpoint);
 			}
 
+			// Update states, setpoints and constraints.
+			_control.updateConstraints(constraints);
+			_control.updateState(_states);
+
 			// update position controller setpoints
 			if (!_control.updateSetpoint(setpoint)) {
 				warn_rate_limited("Position-Control Setpoint-Update failed");