diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index 7541768252..d6ac48a9a4 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -118,8 +118,15 @@ void MulticopterLandDetector::_update_params()
 	param_get(_paramHandle.useHoverThrustEstimate, &use_hover_thrust_estimate);
 	_params.useHoverThrustEstimate = (use_hover_thrust_estimate == 1);
 
-	if (!_params.useHoverThrustEstimate) {
+	if (!_params.useHoverThrustEstimate || !_hover_thrust_initialized) {
 		param_get(_paramHandle.hoverThrottle, &_params.hoverThrottle);
+
+		// HTE runs based on the position controller so, even if we wish to use
+		// the estimate, it is only available in altitude and position modes.
+		// Therefore, we need to always initialize the hoverThrottle using the hover
+		// thrust parameter in case we fly in stabilized
+		// TODO: this can be removed once HTE runs in all modes
+		_hover_thrust_initialized = true;
 	}
 }
 
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
index a9d6abb650..a2498d0ef1 100644
--- a/src/modules/land_detector/MulticopterLandDetector.h
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -129,6 +129,8 @@ private:
 	vehicle_control_mode_s            _vehicle_control_mode {};
 	vehicle_local_position_setpoint_s _vehicle_local_position_setpoint {};
 
+	bool _hover_thrust_initialized{false};
+
 	hrt_abstime _min_trust_start{0};	///< timestamp when minimum trust was applied first
 	hrt_abstime _landed_time{0};