diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 6e6f0abe78..cc6ccb0755 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -629,11 +629,13 @@ void EKF2::Run()
 			new_ev_data_received = true;
 		}
 
-		bool vehicle_land_detected_updated = _vehicle_land_detected_sub.updated();
+		if (_vehicle_land_detected_sub.updated()) {
+			vehicle_land_detected_s vehicle_land_detected;
 
-		if (vehicle_land_detected_updated) {
-			if (_vehicle_land_detected_sub.copy(&_vehicle_land_detected)) {
-				_ekf.set_in_air_status(!_vehicle_land_detected.landed);
+			if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
+				_ekf.set_in_air_status(!vehicle_land_detected.landed);
+				_landed = vehicle_land_detected.landed;
+				_in_ground_effect = vehicle_land_detected.in_ground_effect;
 			}
 		}
 
@@ -757,9 +759,9 @@ void EKF2::Run()
 						// _had_valid_terrain is used to make sure that we don't fall back to using this option
 						// if we temporarily lose terrain data due to the distance sensor getting out of range
 
-					} else if (vehicle_land_detected_updated && !_had_valid_terrain) {
+					} else if (!_had_valid_terrain) {
 						// update ground effect flag based on land detector state
-						_ekf.set_gnd_effect_flag(_vehicle_land_detected.in_ground_effect);
+						_ekf.set_gnd_effect_flag(_in_ground_effect);
 					}
 
 				} else {
@@ -932,7 +934,7 @@ void EKF2::Run()
 				/* Check and save learned magnetometer bias estimates */
 
 				// Check if conditions are OK for learning of magnetometer bias values
-				if (!_vehicle_land_detected.landed && // not on ground
+				if (!_landed && // not on ground
 				    (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) && // vehicle is armed
 				    !status.filter_fault_flags && // there are no filter faults
 				    control_status.flags.mag_3D) { // the EKF is operating in the correct mode
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index 74beb8d8a9..075581df3d 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -213,9 +213,11 @@ private:
 	uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
 	int _range_finder_sub_index = -1; // index for downward-facing range finder subscription
 
-	vehicle_land_detected_s		_vehicle_land_detected{};
 	vehicle_status_s		_vehicle_status{};
 
+	bool _landed{true};
+	bool _in_ground_effect{false};
+
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
 	uORB::PublicationMulti<ekf_gps_drift_s>              _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
 	uORB::PublicationMulti<estimator_innovations_s>      _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};