diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index 5cb75222a0..f23ec7dc02 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -235,7 +235,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 	bool range_dist_available = PX4_ISFINITE(_dist_to_bottom);
 
 	if (range_dist_available && _dist_to_bottom <= _param_mpc_land_alt3.get()) {
-		vertical_speed = _param_mpc_land_crawl_speed.get();
+		vertical_speed = _param_mpc_land_crwl.get();
 	}
 
 	if (_type_previous != WaypointType::land) {
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index 8559580251..c177a74d5f 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -165,20 +165,16 @@ protected:
 					(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
 					(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
 					(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
-					(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crawl_speed,
+					(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crwl,
 					(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
 					(ParamFloat<px4::params::MPC_LAND_RADIUS>) _param_mpc_land_radius,
-					(ParamFloat<px4::params::MPC_LAND_ALT1>)
-					_param_mpc_land_alt1, // altitude at which we start ramping down speed
-					(ParamFloat<px4::params::MPC_LAND_ALT2>)
-					_param_mpc_land_alt2, // altitude at which we descend at land speed
-					(ParamFloat<px4::params::MPC_LAND_ALT3>)
-					_param_mpc_land_alt3, // altitude where we switch to crawl speed, if LIDAR available
+					(ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1,
+					(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2,
+					(ParamFloat<px4::params::MPC_LAND_ALT3>) _param_mpc_land_alt3,
 					(ParamFloat<px4::params::MPC_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up,
 					(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn,
 					(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
-					(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
-					_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
+					(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t
 				       );
 
 private:
diff --git a/src/modules/mc_pos_control/multicopter_takeoff_land_params.c b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c
index 328a8531ad..77444cc65b 100644
--- a/src/modules/mc_pos_control/multicopter_takeoff_land_params.c
+++ b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c
@@ -89,9 +89,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.f);
 /**
  * Altitude for 3. step of slow landing
  *
- * Below this altitude descending velocity gets
- * limited to "MPC_LAND_CRWL", if LIDAR available.
- * No effect if LIDAR not available
+ * If a valid distance sensor measurement to the ground is available,
+ * limit descending velocity to "MPC_LAND_CRWL" below this altitude.
  *
  * @unit m
  * @min 0