diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index f8f1da6a37..abbff94754 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -317,7 +317,11 @@ FixedwingAttitudeControl::vehicle_land_detected_poll()
 	orb_check(_vehicle_land_detected_sub, &vehicle_land_detected_updated);
 
 	if (vehicle_land_detected_updated) {
-		orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &_vehicle_land_detected);
+		vehicle_land_detected_s vehicle_land_detected {};
+
+		if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
+			_landed = vehicle_land_detected.landed;
+		}
 	}
 }
 
@@ -619,7 +623,7 @@ void FixedwingAttitudeControl::run()
 				/* Reset integrators if the aircraft is on ground
 				 * or a multicopter (but not transitioning VTOL)
 				 */
-				if (_vehicle_land_detected.landed
+				if (_landed
 				    || (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode)) {
 
 					_roll_ctrl.reset_integrator();
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index 6f50d9d83e..4966ec60f2 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -122,7 +122,6 @@ private:
 	vehicle_attitude_setpoint_s		_att_sp {};		/**< vehicle attitude setpoint */
 	vehicle_control_mode_s			_vcontrol_mode {};	/**< vehicle control mode */
 	vehicle_global_position_s		_global_pos {};		/**< global position */
-	vehicle_land_detected_s			_vehicle_land_detected {};	/**< vehicle land detected */
 	vehicle_rates_setpoint_s		_rates_sp {};		/* attitude rates setpoint */
 	vehicle_status_s			_vehicle_status {};	/**< vehicle status */
 
@@ -135,6 +134,8 @@ private:
 	float _flaps_applied{0.0f};
 	float _flaperons_applied{0.0f};
 
+	bool _landed{true};
+
 	struct {
 		float p_tc;
 		float p_p;