diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
index 309d119e41..c010258f30 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
@@ -28,8 +28,8 @@ void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg)
     if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_270) {
         state.last_reading_ms = AP_HAL::millis();
         distance_cm = packet.current_distance;
+        sensor_type = (MAV_DISTANCE_SENSOR)packet.type;
     }
-    sensor_type = (MAV_DISTANCE_SENSOR)packet.type;
 }
 
 /*