diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan
index 9f38ff90bc..3615c177de 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uavcan
+++ b/ROMFS/px4fmu_common/init.d/rc.uavcan
@@ -10,11 +10,11 @@
 set UAVCAN_ENABLE 0
 if param compare UAVCAN_ENABLE 1
 then
-    set UAVCAN_ENABLE 1
+	set UAVCAN_ENABLE 1
 fi
 if param compare UAVCAN_ENABLE 2
 then
-    set UAVCAN_ENABLE 2
+	set UAVCAN_ENABLE 2
 fi
 
 echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
@@ -26,9 +26,6 @@ if [ $UAVCAN_ENABLE -ge 1 ]
 then
 	if uavcan start
 	then
-		# First sensor publisher to initialize takes lowest instance ID
-		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
-		sleep 1
 		echo "[i] UAVCAN started"
 	else
 		echo "[i] ERROR: Could not start UAVCAN"
@@ -38,11 +35,15 @@ fi
 
 if [ $UAVCAN_ENABLE -ge 2 ]
 then
-        if uavcan start fw
-        then
-                echo "[i] UAVCAN servers started"
-        else
-                echo "[i] ERROR: Could not start UAVCAN servers"
-                tone_alarm $TUNE_ERR
-        fi
+	if uavcan start fw
+	then
+		echo "[i] UAVCAN servers started"
+	else
+		echo "[i] ERROR: Could not start UAVCAN servers"
+		tone_alarm $TUNE_ERR
+	fi
 fi
+
+# First sensor publisher to initialize takes lowest instance ID
+# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
+sleep 8
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c1c8dc303d..b21ca9ec88 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -299,6 +299,11 @@ then
 	then
 	fi
 
+	#
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
@@ -491,10 +496,6 @@ then
 		fi
 	fi
 
-	# UAVCAN
-	#
-	sh /etc/init.d/rc.uavcan
-
 	#
 	# Logging
 	#