diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index bf052d6e44..5d19dd3059 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1398,6 +1398,11 @@ void Ekf2::run()
 					_ekf.set_gnd_effect_flag(true);
 				}
 
+				// update ground effect flag based on land detector state
+				else if (vehicle_land_detected_updated && _gnd_effect_deadzone.get() > 0.0f) {
+					_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
+				}
+
 				lpos.dist_bottom_rate = -lpos.vz; // Distance to bottom surface (ground) change rate
 
 				_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv);
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index a60c2a9eb4..e8954ee781 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -185,8 +185,8 @@ private:
 
 	bool _previous_arming_state{false}; ///< stores the previous _arming.armed state
 
-	int _parameterSub{-1};
-	int _armingSub{-1};
+	int _parameterSub{ -1};
+	int _armingSub{ -1};
 };
 
 
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
index 0b66e00748..58444e5c77 100644
--- a/src/modules/land_detector/MulticopterLandDetector.h
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -122,13 +122,13 @@ private:
 		float landSpeed;
 	} _params{};
 
-	int _vehicleLocalPositionSub{-1};
-	int _vehicleLocalPositionSetpointSub{-1};
-	int _actuatorsSub{-1};
-	int _attitudeSub{-1};
-	int _sensor_bias_sub{-1};
-	int _vehicle_control_mode_sub{-1};
-	int _battery_sub{-1};
+	int _vehicleLocalPositionSub{ -1};
+	int _vehicleLocalPositionSetpointSub{ -1};
+	int _actuatorsSub{ -1};
+	int _attitudeSub{ -1};
+	int _sensor_bias_sub{ -1};
+	int _vehicle_control_mode_sub{ -1};
+	int _battery_sub{ -1};
 
 	vehicle_local_position_s				_vehicleLocalPosition {};
 	vehicle_local_position_setpoint_s	_vehicleLocalPositionSetpoint {};