diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 47a8332220..0e0a561c3a 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -522,8 +522,7 @@ private:
 #if LANDING_GEAR_ENABLED == ENABLED
     // landing gear state
     struct {
-        int8_t last_auto_cmd;
-        int8_t last_cmd;
+        AP_Vehicle::FixedWing::FlightStage last_flight_stage;
     } gear;
 #endif
     
@@ -933,7 +932,6 @@ private:
     void set_servos_controlled(void);
     void set_servos_old_elevons(void);
     void set_servos_flaps(void);
-    void change_landing_gear(AP_LandingGear::LandingGearCommand cmd);
     void set_landing_gear(void);
     void dspoiler_update(void);
     void servo_output_mixers(void);
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 08eafdad31..1bf6aae74a 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1128,6 +1128,9 @@ void QuadPlane::init_qland(void)
     last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
     landing_detect.lower_limit_start_ms = 0;
     landing_detect.land_start_ms = 0;
+#if LANDING_GEAR_ENABLED == ENABLED
+    plane.g2.landing_gear.deploy_for_landing();
+#endif
 }
 
 
@@ -2777,6 +2780,9 @@ bool QuadPlane::verify_vtol_land(void)
     if (poscontrol.state == QPOS_POSITION2 &&
         plane.auto_state.wp_distance < 2) {
         poscontrol.state = QPOS_LAND_DESCEND;
+#if LANDING_GEAR_ENABLED == ENABLED
+        plane.g2.landing_gear.deploy_for_landing();
+#endif
         last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
         gcs().send_text(MAV_SEVERITY_INFO,"Land descend started");
         if (plane.control_mode == &plane.mode_auto) {
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 0431f815ed..d5b51a88fa 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -546,47 +546,24 @@ void Plane::set_servos_flaps(void)
 }
 
 #if LANDING_GEAR_ENABLED == ENABLED
-/*
-  change and report landing gear
- */
-void Plane::change_landing_gear(AP_LandingGear::LandingGearCommand cmd)
-{
-    if (cmd != (AP_LandingGear::LandingGearCommand)gear.last_cmd) {
-        if (SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
-            g2.landing_gear.set_position(cmd);
-            gcs().send_text(MAV_SEVERITY_INFO, "LandingGear: %s", cmd==AP_LandingGear::LandingGear_Retract?"RETRACT":"DEPLOY");
-        }
-        gear.last_cmd = (int8_t)cmd;
-    }
-}
-
 /*
   setup landing gear state
  */
 void Plane::set_landing_gear(void)
 {
-    if (control_mode == &mode_auto && hal.util->get_soft_armed() && is_flying()) {
-        AP_LandingGear::LandingGearCommand cmd = (AP_LandingGear::LandingGearCommand)gear.last_auto_cmd;
+    if (control_mode == &mode_auto && hal.util->get_soft_armed() && is_flying() && gear.last_flight_stage != flight_stage) {
         switch (flight_stage) {
         case AP_Vehicle::FixedWing::FLIGHT_LAND:
-            cmd = AP_LandingGear::LandingGear_Deploy;
+            g2.landing_gear.deploy_for_landing();
             break;
         case AP_Vehicle::FixedWing::FLIGHT_NORMAL:
-            cmd = AP_LandingGear::LandingGear_Retract;
-            break;
-        case AP_Vehicle::FixedWing::FLIGHT_VTOL:
-            if (quadplane.is_vtol_land(mission.get_current_nav_cmd().id)) {
-                cmd = AP_LandingGear::LandingGear_Deploy;
-            }
+            g2.landing_gear.retract_after_takeoff();
             break;
         default:
             break;
         }
-        if (cmd != gear.last_auto_cmd) {
-            gear.last_auto_cmd = (int8_t)cmd;
-            change_landing_gear(cmd);
-        }
     }
+    gear.last_flight_stage = flight_stage;
 }
 #endif // LANDING_GEAR_ENABLED
 
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index fce7aca15c..b29d5a9bfe 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -112,8 +112,6 @@ void Plane::init_ardupilot()
 #if LANDING_GEAR_ENABLED == ENABLED
     // initialise landing gear position
     g2.landing_gear.init();
-    gear.last_auto_cmd = -1;
-    gear.last_cmd = -1;
 #endif
 
 #if FENCE_TRIGGERED_PIN > 0