diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 820f7cfa56..4d0083bf99 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -668,11 +668,12 @@ void VtolAttitudeControl::task_main()
 
 	while (!_task_should_exit) {
 		/*Advertise/Publish vtol vehicle status*/
+		_vtol_vehicle_status.timestamp = hrt_absolute_time();
+
 		if (_vtol_vehicle_status_pub != nullptr) {
 			orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);
 
 		} else {
-			_vtol_vehicle_status.timestamp = hrt_absolute_time();
 			_vtol_vehicle_status_pub = orb_advertise(ORB_ID(vtol_vehicle_status), &_vtol_vehicle_status);
 		}