diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 7e86f47046..0df602fa6b 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -166,7 +166,8 @@ void FlightModeManager::start_flight_task()
 
 		// Take-over landing from navigator if precision landing is enabled
 
-	} else if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
+	} else if ((_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL ||
+		    _vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)
 		   && _param_rtl_pld_md.get() > 0) {
 		should_disable_task = false;
 
diff --git a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp b/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp
index 4683e11e19..7d3aec719f 100644
--- a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp
+++ b/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp
@@ -150,7 +150,13 @@ FlightTaskAutoPrecisionLanding::run_state_horizontal_approach()
 	_position_setpoint(0) = x;
 	_position_setpoint(1) = y;
 	_position_setpoint(2) = _target(2);
-	_velocity_setpoint(0) = _velocity_setpoint(1) = _velocity_setpoint(2) = NAN;
+
+	_velocity_setpoint(0) = _velocity_setpoint(1)  = NAN;
+
+	// If altitude setpoint is NAN, we stay at the current altitude
+	if (!PX4_ISFINITE(_position_setpoint(2))) {
+		_velocity_setpoint(2) = 0.0f;
+	}
 
 	// check if target visible, if not go to start
 	if (!check_state_conditions(PrecLandState::HorizontalApproach)) {