diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index 462dccd9a8..b8b20d8ab0 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -51,17 +51,6 @@ namespace land_detector
 {
 
 LandDetector::LandDetector() :
-	_landDetectedPub(nullptr),
-	_landDetected{0, false, false},
-	_parameterSub(0),
-	_state{},
-	_freefall_hysteresis(false),
-	_landed_hysteresis(true),
-	_maybe_landed_hysteresis(true),
-	_ground_contact_hysteresis(true),
-	_total_flight_time{0},
-	_takeoff_time{0},
-	_work{},
 	_cycle_perf(perf_alloc(PC_ELAPSED, "land_detector_cycle"))
 {
 }
@@ -96,6 +85,7 @@ void LandDetector::_cycle()
 		_landDetected.landed = false;
 		_landDetected.ground_contact = false;
 		_landDetected.maybe_landed = false;
+
 		_p_total_flight_time_high = param_find("LND_FLIGHT_T_HI");
 		_p_total_flight_time_low = param_find("LND_FLIGHT_T_LO");
 
@@ -108,28 +98,24 @@ void LandDetector::_cycle()
 	}
 
 	_check_params(false);
-
 	_update_topics();
-
-	hrt_abstime now = hrt_absolute_time();
-
 	_update_state();
 
-	float alt_max_prev = _altitude_max;
-	_altitude_max = _get_max_altitude();
-
-	bool freefallDetected = (_state == LandDetectionState::FREEFALL);
-	bool landDetected = (_state == LandDetectionState::LANDED);
-	bool maybe_landedDetected = (_state == LandDetectionState::MAYBE_LANDED);
-	bool ground_contactDetected = (_state == LandDetectionState::GROUND_CONTACT);
+	const bool landDetected = (_state == LandDetectionState::LANDED);
+	const bool freefallDetected = (_state == LandDetectionState::FREEFALL);
+	const bool maybe_landedDetected = (_state == LandDetectionState::MAYBE_LANDED);
+	const bool ground_contactDetected = (_state == LandDetectionState::GROUND_CONTACT);
+	const float alt_max = _get_max_altitude();
 
 	// Only publish very first time or when the result has changed.
 	if ((_landDetectedPub == nullptr) ||
-	    (_landDetected.freefall != freefallDetected) ||
 	    (_landDetected.landed != landDetected) ||
-	    (_landDetected.ground_contact != ground_contactDetected) ||
+	    (_landDetected.freefall != freefallDetected) ||
 	    (_landDetected.maybe_landed != maybe_landedDetected) ||
-	    (fabsf(_landDetected.alt_max - alt_max_prev) > FLT_EPSILON)) {
+	    (_landDetected.ground_contact != ground_contactDetected) ||
+	    (fabsf(_landDetected.alt_max - alt_max) > FLT_EPSILON)) {
+
+		hrt_abstime now = hrt_absolute_time();
 
 		if (!landDetected && _landDetected.landed) {
 			// We did take off
@@ -146,11 +132,11 @@ void LandDetector::_cycle()
 		}
 
 		_landDetected.timestamp = hrt_absolute_time();
-		_landDetected.freefall = (_state == LandDetectionState::FREEFALL);
-		_landDetected.landed = (_state == LandDetectionState::LANDED);
-		_landDetected.ground_contact = (_state == LandDetectionState::GROUND_CONTACT);
-		_landDetected.maybe_landed = (_state == LandDetectionState::MAYBE_LANDED);
-		_landDetected.alt_max = _altitude_max;
+		_landDetected.landed = landDetected;
+		_landDetected.freefall = freefallDetected;
+		_landDetected.maybe_landed = maybe_landedDetected;
+		_landDetected.ground_contact = ground_contactDetected;
+		_landDetected.alt_max = alt_max;
 
 		int instance;
 		orb_publish_auto(ORB_ID(vehicle_land_detected), &_landDetectedPub, &_landDetected,
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index c65980ac5b..1604de4ecf 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -106,7 +106,6 @@ protected:
 	 */
 	virtual void _update_topics() = 0;
 
-
 	/**
 	 * Update parameters.
 	 */
@@ -147,19 +146,17 @@ protected:
 	/** Run main land detector loop at this rate in Hz. */
 	static constexpr uint32_t LAND_DETECTOR_UPDATE_RATE_HZ = 50;
 
-	orb_advert_t _landDetectedPub;
-	struct vehicle_land_detected_s _landDetected;
+	orb_advert_t _landDetectedPub{nullptr};
+	vehicle_land_detected_s _landDetected{};
 
-	int _parameterSub;
+	int _parameterSub{-1};
 
-	LandDetectionState _state;
+	LandDetectionState _state{LandDetectionState::LANDED};
 
-	systemlib::Hysteresis _freefall_hysteresis;
-	systemlib::Hysteresis _landed_hysteresis;
-	systemlib::Hysteresis _maybe_landed_hysteresis;
-	systemlib::Hysteresis _ground_contact_hysteresis;
-
-	float _altitude_max;
+	systemlib::Hysteresis _freefall_hysteresis{false};
+	systemlib::Hysteresis _landed_hysteresis{true};
+	systemlib::Hysteresis _maybe_landed_hysteresis{true};
+	systemlib::Hysteresis _ground_contact_hysteresis{true};
 
 private:
 	static void _cycle_trampoline(void *arg);
@@ -170,12 +167,12 @@ private:
 
 	void _update_state();
 
-	param_t _p_total_flight_time_high;
-	param_t _p_total_flight_time_low;
-	uint64_t _total_flight_time; ///< in microseconds
-	hrt_abstime _takeoff_time;
+	param_t _p_total_flight_time_high{PARAM_INVALID};
+	param_t _p_total_flight_time_low{PARAM_INVALID};
+	uint64_t _total_flight_time{0}; ///< in microseconds
+	hrt_abstime _takeoff_time{0};
 
-	struct work_s	_work;
+	struct work_s	_work {};
 
 	perf_counter_t	_cycle_perf;
 };