diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 8c0d601bdf..d48b92f0ab 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -333,6 +333,10 @@ void AttitudeEstimatorQ::task_main()
 		// Update sensors
 		sensor_combined_s sensors;
 
+		int best_gyro = 0;
+		int best_accel = 0;
+		int best_mag = 0;
+
 		if (!orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors)) {
 			// Feed validator with recent sensor data
 
@@ -369,8 +373,6 @@ void AttitudeEstimatorQ::task_main()
 				}
 			}
 
-			int best_gyro, best_accel, best_mag;
-
 			// Get best measurement values
 			hrt_abstime curr_time = hrt_absolute_time();
 			_gyro.set(_voter_gyro.get_best(curr_time, &best_gyro));