diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
index 85f6c14c79..44ed5d99cc 100644
--- a/src/modules/manual_control/ManualControl.cpp
+++ b/src/modules/manual_control/ManualControl.cpp
@@ -32,12 +32,6 @@
  ****************************************************************************/
 
 #include "ManualControl.hpp"
-
-#include <drivers/drv_hrt.h>
-#include <commander/px4_custom_mode.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/landing_gear.h>
-#include <uORB/topics/vtol_vehicle_status.h>
 #include <uORB/topics/commander_state.h>
 
 namespace manual_control
@@ -201,10 +195,10 @@ void ManualControl::Run()
 					    && _previous_switches.gear_switch != manual_control_switches_s::SWITCH_POS_NONE) {
 
 						if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
-							publish_landing_gear(landing_gear_s::GEAR_UP);
+							publishLandingGear(landing_gear_s::GEAR_UP);
 
 						} else if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_OFF) {
-							publish_landing_gear(landing_gear_s::GEAR_DOWN);
+							publishLandingGear(landing_gear_s::GEAR_DOWN);
 						}
 					}
 
@@ -335,13 +329,12 @@ void ManualControl::sendActionRequest(int8_t action, int8_t source, int8_t mode)
 	_action_request_pub.publish(action_request);
 }
 
-void ManualControl::publish_landing_gear(int8_t action)
+void ManualControl::publishLandingGear(int8_t action)
 {
 	landing_gear_s landing_gear{};
 	landing_gear.landing_gear = action;
 	landing_gear.timestamp = hrt_absolute_time();
-	uORB::Publication<landing_gear_s> landing_gear_pub{ORB_ID(landing_gear)};
-	landing_gear_pub.publish(landing_gear);
+	_landing_gear_pub.publish(landing_gear);
 }
 
 int ManualControl::task_spawn(int argc, char *argv[])
diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp
index f493498f54..ef9407a998 100644
--- a/src/modules/manual_control/ManualControl.hpp
+++ b/src/modules/manual_control/ManualControl.hpp
@@ -33,14 +33,16 @@
 
 #pragma once
 
+#include <drivers/drv_hrt.h>
+#include <lib/hysteresis/hysteresis.h>
+#include <lib/perf/perf_counter.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <lib/hysteresis/hysteresis.h>
-#include <lib/perf/perf_counter.h>
 #include <uORB/topics/action_request.h>
+#include <uORB/topics/landing_gear.h>
 #include <uORB/topics/manual_control_input.h>
 #include <uORB/topics/manual_control_switches.h>
 #include <uORB/topics/manual_control_setpoint.h>
@@ -122,9 +124,10 @@ private:
 
 	void evaluateModeSlot(uint8_t mode_slot);
 	void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0);
-	void publish_landing_gear(int8_t action);
+	void publishLandingGear(int8_t action);
 
 	uORB::Publication<action_request_s> _action_request_pub{ORB_ID(action_request)};
+	uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
 	uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index 5884d6f2a2..8e45d98677 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -154,7 +154,7 @@ MulticopterRateControl::Run()
 
 			if (_landing_gear_sub.copy(&landing_gear)) {
 				if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
-					if (landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
+					if (landing_gear.landing_gear == landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
 						mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear")
 
 					} else {