diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index 72f06daf54..724c781d0a 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -224,7 +224,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 
 	// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
 	// TODO: we need an accelerometer based check for vertical movement for flying without GPS
-	if (manual_control_idle_or_auto && _has_low_thrust() && (!horizontalMovement || !_has_position_lock()) &&
+	if (manual_control_idle_or_auto && (_has_low_thrust() || hit_ground) && (!horizontalMovement || !_has_position_lock())
+	    &&
 	    (!verticalMovement || !_has_altitude_lock())) {
 		return true;
 	}
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index e22a1eef49..99a16e9c95 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1807,7 +1807,7 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
 		thrust_sp(1) = 0.0f;
 	}
 
-	if (!in_auto_takeoff) {
+	if (!in_auto_takeoff()) {
 		if (_vehicle_land_detected.ground_contact) {
 			/* if still or already on ground command zero xy thrust_sp in body
 			 * frame to consider uneven ground */