diff --git a/msg/landing_gear.msg b/msg/landing_gear.msg
index 754de8988f..ce98933531 100644
--- a/msg/landing_gear.msg
+++ b/msg/landing_gear.msg
@@ -3,4 +3,4 @@ uint64 timestamp            # time since system start (microseconds)
 int8 LANDING_GEAR_UP = 1	# landing gear up
 int8 LANDING_GEAR_DOWN = -1	# landing gear down
 
-float32 landing_gear
+int8 landing_gear
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 7264b0edfa..3b2b39b9b8 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -773,7 +773,7 @@ MulticopterAttitudeControl::publish_actuator_controls()
 	_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
 	_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
 	_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
-	_actuators.control[7] = _landing_gear_state.landing_gear;
+	_actuators.control[7] = (float)_landing_gear_state.landing_gear;
 	_actuators.timestamp = hrt_absolute_time();
 	_actuators.timestamp_sample = _sensor_gyro.timestamp;
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 964c1f2ce8..0dc96088cd 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -812,12 +812,11 @@ MulticopterPositionControl::run()
 			// they might conflict with each other such as in offboard attitude control.
 			publish_attitude();
 
-			if (_old_landing_gear_position != constraints.landing_gear) {
-				_landing_gear_state.landing_gear =
-					(constraints.landing_gear == vehicle_constraints_s::GEAR_UP) ?
-					landing_gear_s::LANDING_GEAR_UP :
-					landing_gear_s::LANDING_GEAR_DOWN;
+			// if theres any change in landing gear setpoint publish it
+			if (_old_landing_gear_position != constraints.landing_gear
+				&& constraints.landing_gear != vehicle_constraints_s::GEAR_KEEP) {
 
+				_landing_gear_state.landing_gear = constraints.landing_gear;
 				_landing_gear_state.timestamp = hrt_absolute_time();
 
 				if (_landing_gear_pub != nullptr) {