diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index c8cc22ffab..4ddea3450d 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1950,15 +1950,12 @@ int commander_thread_main(int argc, char *argv[])
 			    &(status_flags.condition_local_altitude_valid), &status_changed);
 
 		/* Update land detector */
-		static bool check_for_disarming = false;
 		orb_check(land_detector_sub, &updated);
 		if (updated) {
 			orb_copy(ORB_ID(vehicle_land_detected), land_detector_sub, &land_detector);
-		}
 
-		if ((updated && status_flags.condition_local_altitude_valid) || check_for_disarming) {
 			if (was_landed != land_detector.landed) {
-				if (land_detector.landed && armed.armed) {
+				if (land_detector.landed) {
 					mavlink_and_console_log_info(&mavlink_log_pub, "LANDING DETECTED");
 				} else {
 					mavlink_and_console_log_info(&mavlink_log_pub, "TAKEOFF DETECTED");
@@ -1973,20 +1970,18 @@ int commander_thread_main(int argc, char *argv[])
 
 			if (disarm_when_landed > 0) {
 				if (land_detector.landed) {
-					if (!check_for_disarming && _inair_last_time > 0) {
-						_inair_last_time = land_detector.timestamp;
-						check_for_disarming = true;
-					}
-
-					if (_inair_last_time > 0 && ((hrt_absolute_time() - _inair_last_time) > (hrt_abstime)disarm_when_landed * 1000 * 1000)) {
+					if (_inair_last_time > 0 &&
+					    (hrt_elapsed_time(&_inair_last_time) > (hrt_abstime)disarm_when_landed * 1000 * 1000)) {
 						arm_disarm(false, &mavlink_log_pub, "auto disarm on land");
 						_inair_last_time = 0;
-						check_for_disarming = false;
 					}
 				} else {
 					_inair_last_time = land_detector.timestamp;
 				}
 			}
+
+			was_landed = land_detector.landed;
+			was_falling = land_detector.freefall;
 		}
 
 		if (!rtl_on) {
@@ -2678,8 +2673,6 @@ int commander_thread_main(int argc, char *argv[])
 			commander_set_home_position(home_pub, _home, local_position, global_position, attitude);
 		}
 
-		was_landed = land_detector.landed;
-		was_falling = land_detector.freefall;
 		was_armed = armed.armed;
 
 		/* print new state */