diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 12fa023a0e..0e56c9387b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2349,20 +2349,18 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-		/* handle main state after takeoff and land */
+		/* reset main state after takeoff and land */
 		if (status.main_state == vehicle_status_s::MAIN_STATE_AUTO_TAKEOFF
 				&& mission_result.finished) {
 
-			// transition back to state we had before takeoff
 			if (status.main_state_prev < vehicle_status_s::MAIN_STATE_MAX
 					&& status.main_state_prev != vehicle_status_s::MAIN_STATE_AUTO_LAND) {
 				main_state_transition(&status, status.main_state_prev);
 			}
 
 		} else if (status.main_state == vehicle_status_s::MAIN_STATE_AUTO_LAND
-				&& status.condition_landed) {
+				&& status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
 
-			// transition back to state we had before takeoff
 			if (status.main_state_prev < vehicle_status_s::MAIN_STATE_MAX
 					&& status.main_state_prev != vehicle_status_s::MAIN_STATE_AUTO_TAKEOFF) {
 				main_state_transition(&status, status.main_state_prev);