diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 077cecb660..2080202ad7 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -981,9 +981,7 @@ void MissionBlock::updateAltToAvoidTerrainCollisionAndRepublishTriplet(mission_i
 
 	if (_navigator->get_nav_min_gnd_dist_param() > FLT_EPSILON && _mission_item.nav_cmd != NAV_CMD_LAND
 	    && _mission_item.nav_cmd != NAV_CMD_VTOL_LAND && _mission_item.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION
-	    // && _mission_item.nav_cmd != NAV_CMD_IDLE
-	    // this one was very specifically put here: https://github.com/PX4/PX4-Autopilot/pull/23674
-	    // do we need some other way to encode "mission finisihed"?
+	    && !_navigator->get_land_detected()->landed
 	    && _navigator->get_local_position()->dist_bottom_valid
 	    && _navigator->get_local_position()->dist_bottom < _navigator->get_nav_min_gnd_dist_param()
 	    && _navigator->get_local_position()->vz > FLT_EPSILON