diff --git a/src/modules/land_detector/VtolLandDetector.cpp b/src/modules/land_detector/VtolLandDetector.cpp
index 6729d98647..1f6e962acf 100644
--- a/src/modules/land_detector/VtolLandDetector.cpp
+++ b/src/modules/land_detector/VtolLandDetector.cpp
@@ -40,6 +40,7 @@
  */
 
 #include <drivers/drv_hrt.h>
+#include <matrix/math.hpp>
 
 #include "VtolLandDetector.h"
 
@@ -94,4 +95,13 @@ bool VtolLandDetector::_get_landed_state()
 	return landed;
 }
 
+bool VtolLandDetector::_get_freefall_state()
+{
+	bool free_fall_detected =
+		MulticopterLandDetector::_get_freefall_state(); // true if falling or in a parabolic flight (low gravity)
+
+	// only return a positive free fall detected if not in fixed-wing mode
+	return _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && free_fall_detected;
+}
+
 } // namespace land_detector
diff --git a/src/modules/land_detector/VtolLandDetector.h b/src/modules/land_detector/VtolLandDetector.h
index 681f6edcb8..d159728636 100644
--- a/src/modules/land_detector/VtolLandDetector.h
+++ b/src/modules/land_detector/VtolLandDetector.h
@@ -59,6 +59,7 @@ protected:
 	void _update_topics() override;
 	bool _get_landed_state() override;
 	bool _get_maybe_landed_state() override;
+	bool _get_freefall_state() override;
 
 private: