diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 67802c6af7..ff76b5620d 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -264,7 +264,8 @@ Mission::update_offboard_mission()
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
 				_navigator->get_home_position()->alt, _navigator->home_position_valid(),
 				_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
-				_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius());
+				_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(),
+				_navigator->get_vstatus()->condition_landed);
 
 		_navigator->get_mission_result()->valid = !failed;
 		_navigator->increment_mission_instance_count();
@@ -848,7 +849,8 @@ Mission::check_mission_valid()
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
 				_navigator->get_home_position()->alt, _navigator->home_position_valid(),
 				_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
-				_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius());
+				_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(),
+				_navigator->get_vstatus()->condition_landed);
 
 		_navigator->increment_mission_instance_count();
 		_navigator->set_mission_result_updated();
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 2cf1c45f56..d8ee9c8628 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -65,7 +65,8 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() :
 bool MissionFeasibilityChecker::checkMissionFeasible(int mavlink_fd, bool isRotarywing,
 	dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
 	float home_alt, bool home_valid, double curr_lat, double curr_lon, float max_waypoint_distance, bool &warning_issued,
-	float default_acceptance_rad)
+	float default_acceptance_rad,
+	bool condition_landed)
 {
 	bool failed = false;
 	bool warned = false;
@@ -84,7 +85,7 @@ bool MissionFeasibilityChecker::checkMissionFeasible(int mavlink_fd, bool isRota
 	}
 
 	// check if all mission item commands are supported
-	failed = failed || !checkMissionItemValidity(dm_current, nMissionItems);
+	failed = failed || !checkMissionItemValidity(dm_current, nMissionItems, condition_landed);
 	failed = failed || !checkGeofence(dm_current, nMissionItems, geofence);
 	failed = failed || !checkHomePositionAltitude(dm_current, nMissionItems, home_alt, home_valid, warned);
 
@@ -211,7 +212,7 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 	return true;
 }
 
-bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems) {
+bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems, bool condition_landed) {
 	// do not allow mission if we find unsupported item
 	for (size_t i = 0; i < nMissionItems; i++) {
 		struct mission_item_s missionitem;
@@ -223,7 +224,7 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
 			return false;
 		}
 
-		// check if we find unsupported item and reject mission if so
+		// check if we find unsupported items and reject mission if so
 		if (missionitem.nav_cmd != NAV_CMD_IDLE &&
 			missionitem.nav_cmd != NAV_CMD_WAYPOINT &&
 			missionitem.nav_cmd != NAV_CMD_LOITER_UNLIMITED &&
@@ -240,6 +241,17 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
 			mavlink_log_critical(_mavlink_fd, "Rejecting mission item %i: unsupported action.", (int)(i+1));
 			return false;
 		}
+
+		// check if the mission starts with a land command while the vehicle is landed
+		if (missionitem.nav_cmd == NAV_CMD_LAND &&
+			i == 0 &&
+			condition_landed) {
+
+			mavlink_log_critical(_mavlink_fd, "Rejecting mission that starts with LAND command while vehicle is landed.");
+			return false;
+		}
+
+
 	}
 	return true;
 }
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index a1831999ac..7b44c3246d 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -63,7 +63,7 @@ private:
 	/* Checks for all airframes */
 	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid, bool &warning_issued, bool throw_error = false);
-	bool checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems);
+	bool checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems, bool condition_landed);
 	bool check_dist_1wp(dm_item_t dm_current, size_t nMissionItems, double curr_lat, double curr_lon, float dist_first_wp, bool &warning_issued);
 
 	/* Checks specific to fixedwing airframes */
@@ -83,7 +83,8 @@ public:
 	 */
 	bool checkMissionFeasible(int mavlink_fd, bool isRotarywing, dm_item_t dm_current,
 		size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid,
-		double curr_lat, double curr_lon, float max_waypoint_distance, bool &warning_issued, float default_acceptance_rad);
+		double curr_lat, double curr_lon, float max_waypoint_distance, bool &warning_issued, float default_acceptance_rad,
+		bool condition_landed);
 
 };