diff --git a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
index 6851e9f41a..310d799869 100644
--- a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
+++ b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
@@ -59,7 +59,7 @@ MulticopterHoverThrustEstimator::~MulticopterHoverThrustEstimator()
 
 bool MulticopterHoverThrustEstimator::init()
 {
-	if (!_vehicle_local_position_setpoint_sub.registerCallback()) {
+	if (!_vehicle_local_position_sub.registerCallback()) {
 		PX4_ERR("vehicle_local_position_setpoint callback registration failed!");
 		return false;
 	}
@@ -91,13 +91,43 @@ void MulticopterHoverThrustEstimator::updateParams()
 void MulticopterHoverThrustEstimator::Run()
 {
 	if (should_exit()) {
-		_vehicle_local_position_setpoint_sub.unregisterCallback();
+		_vehicle_local_position_sub.unregisterCallback();
 		exit_and_cleanup();
 		return;
 	}
 
-	// new local position estimate and setpoint needed every iteration
-	if (!_vehicle_local_pos_sub.updated() || !_vehicle_local_position_setpoint_sub.updated()) {
+	if (_vehicle_land_detected_sub.updated()) {
+		vehicle_land_detected_s vehicle_land_detected;
+
+		if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
+			_landed = vehicle_land_detected.landed;
+
+			if (_landed) {
+				_in_air = false;
+			}
+		}
+	}
+
+	if (!_vehicle_local_position_sub.updated()) {
+		return;
+	}
+
+	vehicle_local_position_s local_pos{};
+
+	if (_vehicle_local_position_sub.copy(&local_pos)) {
+		// This is only necessary because the landed
+		// flag of the land detector does not guarantee that
+		// the vehicle does not touch the ground anymore
+		// TODO: improve the landed flag
+		if (local_pos.dist_bottom_valid) {
+			if (!_landed && (local_pos.dist_bottom > 1.f)) {
+				_in_air = true;
+			}
+		}
+	}
+
+	// new local position setpoint needed every iteration
+	if (!_vehicle_local_position_setpoint_sub.updated()) {
 		return;
 	}
 
@@ -113,14 +143,6 @@ void MulticopterHoverThrustEstimator::Run()
 
 	perf_begin(_cycle_perf);
 
-	if (_vehicle_land_detected_sub.updated()) {
-		vehicle_land_detected_s vehicle_land_detected;
-
-		if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
-			_landed = vehicle_land_detected.landed;
-		}
-	}
-
 	if (_vehicle_status_sub.updated()) {
 		vehicle_status_s vehicle_status;
 
@@ -129,36 +151,23 @@ void MulticopterHoverThrustEstimator::Run()
 		}
 	}
 
-	// always copy latest position estimate
-	vehicle_local_position_s local_pos{};
-
-	if (_vehicle_local_pos_sub.copy(&local_pos)) {
-		// This is only necessary because the landed
-		// flag of the land detector does not guarantee that
-		// the vehicle does not touch the ground anymore
-		// TODO: improve the landed flag
-		if (local_pos.dist_bottom_valid) {
-			_in_air = local_pos.dist_bottom > 1.f;
-		}
-	}
-
 	const float dt = (local_pos.timestamp - _timestamp_last) * 1e-6f;
 	_timestamp_last = local_pos.timestamp;
 
-	if (_armed && !_landed && (dt > 0.001f) && (dt < 1.f) && PX4_ISFINITE(local_pos.az)) {
+	if (_armed && _in_air && (dt > 0.001f) && (dt < 1.f) && PX4_ISFINITE(local_pos.az)) {
 
 		_hover_thrust_ekf.predict(dt);
 
 		vehicle_local_position_setpoint_s local_pos_sp;
 
-		if (_vehicle_local_position_setpoint_sub.update(&local_pos_sp)) {
+		if (_vehicle_local_position_setpoint_sub.copy(&local_pos_sp)) {
 			if (PX4_ISFINITE(local_pos_sp.thrust[2])) {
 				// Inform the hover thrust estimator about the measured vertical
 				// acceleration (positive acceleration is up) and the current thrust (positive thrust is up)
-				ZeroOrderHoverThrustEkf::status status;
+				ZeroOrderHoverThrustEkf::status status{};
 				_hover_thrust_ekf.fuseAccZ(-local_pos.az, -local_pos_sp.thrust[2], status);
 
-				const bool valid = _in_air && (status.hover_thrust_var < 0.001f) && (status.innov_test_ratio < 1.f);
+				const bool valid = (status.hover_thrust_var < 0.001f) && (status.innov_test_ratio < 1.f);
 				_valid_hysteresis.set_state_and_update(valid, local_pos.timestamp);
 				_valid = _valid_hysteresis.get_state();
 
diff --git a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
index 0e6853d4c5..cad76b33f9 100644
--- a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
+++ b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
@@ -95,12 +95,12 @@ private:
 
 	uORB::Publication<hover_thrust_estimate_s> _hover_thrust_ekf_pub{ORB_ID(hover_thrust_estimate)};
 
-	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_setpoint_sub{this, ORB_ID(vehicle_local_position_setpoint)};
+	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
 
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-	uORB::Subscription _vehicle_local_pos_sub{ORB_ID(vehicle_local_position)};
+	uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};
 
 	hrt_abstime _timestamp_last{0};