diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index c0dabf9a38..c2b6d36383 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -1413,7 +1413,7 @@ void EKF2::UpdateMagCalibration(const hrt_abstime &timestamp)
 	_ekf.get_filter_fault_status(&fault_status.value);
 
 	// Check if conditions are OK for learning of magnetometer bias values
-	if (!_landed && _armed &&
+	if (control_status.flags.in_air && _armed &&
 	    !fault_status.value && // there are no filter faults
 	    control_status.flags.mag_3D) { // the EKF is operating in the correct mode
 
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index c6a1fe1bc7..0b2e02ce65 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -227,7 +227,6 @@ private:
 	bool _distance_sensor_selected{false}; // because we can have several distance sensor instances with different orientations
 	bool _armed{false};
 	bool _standby{false}; // standby arming state
-	bool _landed{true};
 	bool _in_ground_effect{false};
 
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};