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 c6c913b1f4..6acffc0dfc 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1244,6 +1244,9 @@ MulticopterPositionControl::task_main()
 	/* get an initial update for all sensor and status data */
 	poll_subscriptions();
 
+	/* We really need to know from the beginning if we're landed or in-air. */
+	orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &_vehicle_land_detected);
+
 	bool reset_int_z = true;
 	bool reset_int_z_manual = false;
 	bool reset_int_xy = true;