diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 60ac2a9287..658f4e1dde 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -27,6 +27,8 @@ void Sub::init_ardupilot()
                         AP::fwversion().fw_string,
                         (unsigned)hal.util->available_memory());
 
+    init_capabilities();
+
     // load parameters from EEPROM
     load_parameters();
 
@@ -203,9 +205,6 @@ void Sub::init_ardupilot()
 
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
-    // init vehicle capabilties
-    init_capabilities();
-
     // disable safety if requested
     BoardConfig.init_safety();