diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 08a3c1342a..3898859469 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -155,6 +155,10 @@ void init_ap( void ) {
   mcu_init();
 #endif /* SINGLE_MCU */
 
+  /****** initialize and reset state interface ********/
+
+  stateInit();
+
   /************* Sensors initialization ***************/
 #if USE_GPS
   gps_init();
@@ -178,8 +182,6 @@ void init_ap( void ) {
 
   ins_init();
 
-  stateInit();
-
   /************* Links initialization ***************/
 #if defined MCU_SPI_LINK || defined MCU_UART_LINK
   link_mcu_init();