diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index 20c0f38623..6741e45c4f 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -202,7 +202,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 		if (_trajectory_setpoint_sub.update(&trajectory_setpoint)) {
 			// Setpoints can be NAN
 			_in_descend = PX4_ISFINITE(trajectory_setpoint.velocity[2])
-				      && (trajectory_setpoint.velocity[2] > DESCENT_TRAJECTORY_VZ_THRESHOLD);
+				      && (trajectory_setpoint.velocity[2] >= 1.1f * _param_lndmc_z_vel_max.get());
 		}
 
 		// ground contact requires commanded descent until landed
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
index 6493ec4261..1e473eff83 100644
--- a/src/modules/land_detector/MulticopterLandDetector.h
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -87,9 +87,6 @@ private:
 	/** Distance above ground below which entering ground contact state is possible when distance to ground is available. */
 	static constexpr float DIST_FROM_GROUND_THRESHOLD = 1.0f;
 
-	/** Down velocity threshold for setting "in_descend" flag */
-	static constexpr float DESCENT_TRAJECTORY_VZ_THRESHOLD = 0.3f;
-
 	/** Handles for interesting parameters. **/
 	struct {
 		param_t minThrottle;