diff --git a/src/modules/navigator/precland.cpp b/src/modules/navigator/precland.cpp
index 8811da6d34..b318df490d 100644
--- a/src/modules/navigator/precland.cpp
+++ b/src/modules/navigator/precland.cpp
@@ -61,18 +61,7 @@
 
 PrecLand::PrecLand(Navigator *navigator) :
 	MissionBlock(navigator),
-	ModuleParams(navigator),
-	_targetPoseSub(0),
-	_target_pose_valid(false),
-	_state_start_time(0),
-	_search_cnt(0),
-	_approach_alt(0)
-
-{
-}
-
-void
-PrecLand::on_inactive()
+	ModuleParams(navigator)
 {
 }
 
@@ -127,7 +116,7 @@ PrecLand::on_active()
 		_target_pose_valid = true;
 	}
 
-	if (hrt_absolute_time() - _target_pose.timestamp > (uint64_t)(_param_timeout.get()*SEC2USEC)) {
+	if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e-6f) > _param_timeout.get()) {
 		_target_pose_valid = false;
 	}
 
@@ -278,7 +267,6 @@ PrecLand::run_state_horizontal_approach()
 	pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 
 	_navigator->set_position_setpoint_triplet_updated();
-
 }
 
 void
@@ -316,7 +304,6 @@ PrecLand::run_state_descend_above_target()
 	pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_LAND;
 
 	_navigator->set_position_setpoint_triplet_updated();
-
 }
 
 void
diff --git a/src/modules/navigator/precland.h b/src/modules/navigator/precland.h
index 819c7126ce..0d9177e5d3 100644
--- a/src/modules/navigator/precland.h
+++ b/src/modules/navigator/precland.h
@@ -67,14 +67,10 @@ class PrecLand : public MissionBlock, public ModuleParams
 {
 public:
 	PrecLand(Navigator *navigator);
+	~PrecLand() override = default;
 
-	~PrecLand() = default;
-
-	virtual void on_inactive();
-
-	virtual void on_activation();
-
-	virtual void on_active();
+	void on_activation() override;
+	void on_active() override;
 
 	void set_mode(PrecLandMode mode) { _mode = mode; };
 
@@ -103,22 +99,26 @@ private:
 	void slewrate(float &sp_x, float &sp_y);
 
 	landing_target_pose_s _target_pose{}; /**< precision landing target position */
-	int _targetPoseSub;
-	bool _target_pose_valid; /**< wether we have received a landing target position message */
+
+	int _targetPoseSub{-1};
+	bool _target_pose_valid{false}; /**< wether we have received a landing target position message */
+
 	struct map_projection_reference_s _map_ref {}; /**< reference for local/global projections */
-	uint64_t _state_start_time; /**< time when we entered current state */
-	uint64_t _last_slewrate_time; /**< time when we last limited setpoint changes */
-	uint64_t _target_acquired_time; /**< time when we first saw the landing target during search */
-	uint64_t _point_reached_time; /**< time when we reached a setpoint */
-	int _search_cnt; /**< counter of how many times we had to search for the landing target */
-	float _approach_alt; /**< altitude at which to stay during horizontal approach */
+
+	uint64_t _state_start_time{0}; /**< time when we entered current state */
+	uint64_t _last_slewrate_time{0}; /**< time when we last limited setpoint changes */
+	uint64_t _target_acquired_time{0}; /**< time when we first saw the landing target during search */
+	uint64_t _point_reached_time{0}; /**< time when we reached a setpoint */
+
+	int _search_cnt{0}; /**< counter of how many times we had to search for the landing target */
+	float _approach_alt{0.0f}; /**< altitude at which to stay during horizontal approach */
 
 	matrix::Vector2f _sp_pev;
 	matrix::Vector2f _sp_pev_prev;
 
-	PrecLandState _state;
+	PrecLandState _state{PrecLandState::Start};
 
-	PrecLandMode _mode;
+	PrecLandMode _mode{PrecLandMode::Opportunistic};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::PLD_BTOUT>) _param_timeout,