diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan
index abb76b4001..9a470a6b8d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uavcan
+++ b/ROMFS/px4fmu_common/init.d/rc.uavcan
@@ -7,7 +7,9 @@ if param compare UAVCAN_ENABLE 1
 then
 	if uavcan start
 	then
-		sleep 1                      # Sensor autodetection delay
+		# 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 "[init] UAVCAN started"
 	else
 		echo "[init] ERROR: Could not start UAVCAN"