diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index d5f8b72b0bff95..820d103e5746d0 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -427,11 +427,7 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
     }
 
     // updates below land min collective flag
-    if (collective_out <= _collective_land_min_pct) {
-        _heliflags.below_land_min_coll = true;
-    } else {
-        _heliflags.below_land_min_coll = false;
-    }
+    _heliflags.below_land_min_coll = !is_positive(collective_out - _collective_land_min_pct);
 
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index 172697acf53dcb..4aca86654a34f2 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -189,11 +189,7 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
     }
 
     // updates below land min collective flag
-    if (collective_out <= _collective_land_min_pct) {
-        _heliflags.below_land_min_coll = true;
-    } else {
-        _heliflags.below_land_min_coll = false;
-    }
+    _heliflags.below_land_min_coll = !is_positive(collective_out - _collective_land_min_pct);
 
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 6372363e37a43b..201132f938f3e1 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -394,11 +394,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     }
 
     // updates below land min collective flag
-    if (collective_out <= _collective_land_min_pct) {
-        _heliflags.below_land_min_coll = true;
-    } else {
-        _heliflags.below_land_min_coll = false;
-    }
+    _heliflags.below_land_min_coll = !is_positive(collective_out - _collective_land_min_pct);
 
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);