diff --git a/src/modules/landing_target_estimator/LandingTargetEstimator.cpp b/src/modules/landing_target_estimator/LandingTargetEstimator.cpp
index 8c33ab91ae..f533a9375e 100644
--- a/src/modules/landing_target_estimator/LandingTargetEstimator.cpp
+++ b/src/modules/landing_target_estimator/LandingTargetEstimator.cpp
@@ -162,8 +162,10 @@ void LandingTargetEstimator::update()
 
 	if (!_estimator_initialized) {
 		PX4_INFO("Init");
-		_kalman_filter_x.init(_rel_pos(0), 0, _params.pos_unc_init, _params.vel_unc_init);
-		_kalman_filter_y.init(_rel_pos(1), 0, _params.pos_unc_init, _params.vel_unc_init);
+		float vx_init = _vehicleLocalPosition.v_xy_valid ? -_vehicleLocalPosition.vx : 0.f;
+		float vy_init = _vehicleLocalPosition.v_xy_valid ? -_vehicleLocalPosition.vy : 0.f;
+		_kalman_filter_x.init(_rel_pos(0), vx_init, _params.pos_unc_init, _params.vel_unc_init);
+		_kalman_filter_y.init(_rel_pos(1), vy_init, _params.pos_unc_init, _params.vel_unc_init);
 
 		_estimator_initialized = true;
 		_last_update = hrt_absolute_time();
diff --git a/src/modules/landing_target_estimator/landing_target_estimator_params.c b/src/modules/landing_target_estimator/landing_target_estimator_params.c
index 2b68695de9..252fc2fdb9 100644
--- a/src/modules/landing_target_estimator/landing_target_estimator_params.c
+++ b/src/modules/landing_target_estimator/landing_target_estimator_params.c
@@ -107,7 +107,7 @@ PARAM_DEFINE_FLOAT(LTEST_POS_UNC_IN, 0.1f);
  *
  * @group Landing target Estimator
  */
-PARAM_DEFINE_FLOAT(LTEST_VEL_UNC_IN, 1.0f);
+PARAM_DEFINE_FLOAT(LTEST_VEL_UNC_IN, 0.1f);
 
 /**
  * Scale factor for sensor measurements in sensor x axis