diff --git a/example/offboard_velocity/offboard_velocity.cpp b/example/offboard_velocity/offboard_velocity.cpp
index e65f9f7c7f..aaf10f3078 100644
--- a/example/offboard_velocity/offboard_velocity.cpp
+++ b/example/offboard_velocity/offboard_velocity.cpp
@@ -237,9 +237,16 @@ int main(int argc, char **argv)
     const Action::Result land_result = action->land();
     action_error_exit(land_result, "Landing failed");
 
+    // Check if vehicle is still in air
+    while (telemetry->in_air()) {
+        std::cout << "Vehicle is landing..." << std::endl;
+        sleep_for(seconds(1));
+    }
+    std::cout << "Landed!" << std::endl;
+
     // We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
-    sleep_for(seconds(10));
-    std::cout << "Landed" << std::endl;
+    sleep_for(seconds(3));
+    std::cout << "Finished..." << std::endl;
 
     return EXIT_SUCCESS;
 }
diff --git a/example/takeoff_land/takeoff_and_land.cpp b/example/takeoff_land/takeoff_and_land.cpp
index ad7ef3b89f..848691f62e 100644
--- a/example/takeoff_land/takeoff_and_land.cpp
+++ b/example/takeoff_land/takeoff_and_land.cpp
@@ -139,8 +139,16 @@ int main(int argc, char **argv)
         return 1;
     }
 
+    // Check if vehicle is still in air
+    while (telemetry->in_air()) {
+        std::cout << "Vehicle is landing..." << std::endl;
+        sleep_for(seconds(1));
+    }
+    std::cout << "Landed!" << std::endl;
+
     // We are relying on auto-disarming but let's keep watching the telemetry for a bit longer.
-    sleep_for(seconds(5));
+    sleep_for(seconds(3));
     std::cout << "Finished..." << std::endl;
+
     return 0;
 }