diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index 0aade86b48..15921ef30d 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -210,17 +210,12 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 	// if we have a valid velocity setpoint and the vehicle is demanded to go down but no vertical movement present,
 	// we then can assume that the vehicle hit ground
 	if (_flag_control_climb_rate_enabled) {
-		vehicle_local_position_setpoint_s vehicle_local_position_setpoint;
+		vehicle_local_position_setpoint_s trajectory_setpoint;
 
-		if (_vehicle_local_position_setpoint_sub.update(&vehicle_local_position_setpoint)) {
-			// setpoints can briefly be NAN to signal resets, TODO: fix in multicopter position controller
-			const bool descend_vel_sp = PX4_ISFINITE(vehicle_local_position_setpoint.vz)
-						    && (vehicle_local_position_setpoint.vz >= land_speed_threshold);
-
-			const bool descend_acc_sp = PX4_ISFINITE(vehicle_local_position_setpoint.acceleration[2])
-						    && (vehicle_local_position_setpoint.acceleration[2] >= 100.f);
-
-			_in_descend = descend_vel_sp || descend_acc_sp;
+		if (_trajectory_setpoint_sub.update(&trajectory_setpoint)) {
+			// Setpoints can be NAN
+			_in_descend = PX4_ISFINITE(trajectory_setpoint.vz)
+				      && (trajectory_setpoint.vz >= land_speed_threshold);
 		}
 
 		// ground contact requires commanded descent until landed
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
index e6ed259715..4045d6ef13 100644
--- a/src/modules/land_detector/MulticopterLandDetector.h
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -112,9 +112,9 @@ private:
 
 	uORB::Subscription _actuator_controls_sub{ORB_ID(actuator_controls_0)};
 	uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
+	uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};
 	uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)};
 
 	hrt_abstime _hover_thrust_estimate_last_valid{0};