diff --git a/src/modules/land_detector/RoverLandDetector.cpp b/src/modules/land_detector/RoverLandDetector.cpp
index e9942c4eae..2011419db8 100644
--- a/src/modules/land_detector/RoverLandDetector.cpp
+++ b/src/modules/land_detector/RoverLandDetector.cpp
@@ -51,12 +51,40 @@ bool RoverLandDetector::_get_ground_contact_state()
 
 bool RoverLandDetector::_get_landed_state()
 {
+	_update_topics();
+	const float distance_to_home = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1),
+				       _home_position(0), _home_position(1));
+
 	if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
 		return true; // If Landing has been requested then say we have landed.
 
+	} else if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
+		   && distance_to_home < _param_nav_acc_rad.get() && _param_rtl_land_delay.get() > -FLT_EPSILON) {
+		return true; // If the rover reaches the home position during RTL we say we have landed
+
 	} else {
 		return !_armed;  // If we are armed we are not landed.
 	}
 }
 
+void RoverLandDetector::_update_topics()
+{
+	if (_vehicle_global_position_sub.updated()) {
+		vehicle_global_position_s vehicle_global_position{};
+		_vehicle_global_position_sub.copy(&vehicle_global_position);
+		_curr_pos = matrix::Vector2d(vehicle_global_position.lat, vehicle_global_position.lon);
+	}
+
+	if (_home_position_sub.updated()) {
+		home_position_s home_position{};
+		_home_position_sub.copy(&home_position);
+		_home_position = matrix::Vector2d(home_position.lat, home_position.lon);
+	}
+}
+
+void RoverLandDetector::_set_hysteresis_factor(const int factor)
+{
+	_landed_hysteresis.set_hysteresis_time_from(true, 0_ms);
+}
+
 } // namespace land_detector
diff --git a/src/modules/land_detector/RoverLandDetector.h b/src/modules/land_detector/RoverLandDetector.h
index 5ebc5b6677..c90ac8d140 100644
--- a/src/modules/land_detector/RoverLandDetector.h
+++ b/src/modules/land_detector/RoverLandDetector.h
@@ -42,6 +42,9 @@
 #pragma once
 
 #include "LandDetector.h"
+#include <lib/geo/geo.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/home_position.h>
 
 namespace land_detector
 {
@@ -55,7 +58,20 @@ public:
 protected:
 	bool _get_ground_contact_state() override;
 	bool _get_landed_state() override;
-	void _set_hysteresis_factor(const int factor) override {};
+	void _set_hysteresis_factor(const int factor) override;
+	void _update_topics() override;
+
+private:
+	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
+	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
+	matrix::Vector2d _curr_pos{};
+	matrix::Vector2d _home_position{};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad,
+		(ParamFloat<px4::params::RTL_LAND_DELAY>) _param_rtl_land_delay
+	)
+
 };
 
 } // namespace land_detector