<p>It is difficult to describe with words what's happening, so take a look at the picture. Somehow PrusaSlicer decides to move and print in the air (blue line), where instead it can continue going from outwards to inward. I understand it wants to print first the outer layer but in this case it is obvious it will not hold that layer.</p>
<p>The final position is shown in the second image.</p>
<p><a href="https://i.stack.imgur.com/iB1fc.jpg" rel="nofollow noreferrer"><img src="https://i.stack.imgur.com/iB1fc.jpg" alt="prusa slicer" /></a></p>
<p>The final step of that layer:
<a href="https://i.stack.imgur.com/PCetc.jpg" rel="nofollow noreferrer"><img src="https://i.stack.imgur.com/PCetc.jpg" alt="enter image description here" /></a></p>
<p>Any idea how to configure PrusaSlicer to avoid this situation?</p>

You'll want to turn on supports, which will create a series of low density pillars in the "floating" area and provide a foundation for the layer that is printing mid-air in your second image.
Another option is to create a hollow support cylinder perhaps a half millimeter larger diameter than the hole in the floating layer. This creates the support for the inner diameter and allows the printer to create bridges.
The former method will use more filament and take longer to print but provide a better under-surface than the latter method.