diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 368fa6ee25..763b875635 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -763,7 +763,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		float thrust = armed.armed ? actuator.control[3] : 0.0f;
 
 		if (landed) {
-			if (alt_disp2 > land_disp2 && thrust > params.land_thr) {
+			if (alt_disp2 > land_disp2 || thrust > params.land_thr) {
 				landed = false;
 				landed_time = 0;
 			}
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index b71f9472f5..dcad5c03b6 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -56,7 +56,7 @@ PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
 PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
 PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
 PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
-PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f);
+PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {