diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
index 560bd809e6..a5394c12b4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
index c7659a2371..c61e4cac65 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
index c7659a2371..c61e4cac65 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
index 18928b0ff4..39860cc420 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
@@ -27,7 +27,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
index bd4f9da1b4..37ae5bd0d8 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
index 923687d5d6..4cf8a325ae 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
@@ -34,7 +34,6 @@ param set-default FW_T_TAS_TC 2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane
index c421bfec04..cccb1bf50b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane
@@ -31,7 +31,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
index 74ed35e863..135dbbfbcf 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
index c48e495d6a..2ef7a8a34d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
index 0134210800..d3cc92e2ee 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
@@ -25,7 +25,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
index be68232e37..b6556b710c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
index 395310d75e..f733f9cf25 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 3
 
 param set-default NAV_ACC_RAD 20
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2 b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2
index 4ed9a2bbde..15875b115a 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2
@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7
 
 param set-default NAV_ACC_RAD 20
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index e66ec9f683..48841868a7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -31,7 +31,6 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
index 40a6569938..e5c4633b57 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@@ -39,7 +39,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
index 9835b9d4a7..ed7a7912c8 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@@ -44,7 +44,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
index d06d3487de..d3660aa22a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
@@ -45,7 +45,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5
diff --git a/ROMFS/px4fmu_common/init.d/rc.boat_defaults b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
index 93c8820883..dbce64221c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.boat_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
@@ -13,7 +13,6 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 8cf2cff58c..dc972e9cdf 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -43,7 +43,6 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10
 
 param set-default MIS_DIST_WPS 5000
-param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
 param set-default MIS_TKO_LAND_REQ 2
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
index cab52039d4..322af3d0b0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -13,7 +13,6 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index ddbee0c64b..41c2854878 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -1436,15 +1436,14 @@ Mission::cruising_speed_sp_update()
 void
 Mission::do_abort_landing()
 {
-	// Abort FW landing
-	//  first climb out then loiter over intended landing location
+	// Abort FW landing, loiter above landing site in at least MIS_LND_ABRT_ALT
 
 	if (_mission_item.nav_cmd != NAV_CMD_LAND) {
 		return;
 	}
 
 	const float alt_landing = get_absolute_altitude_for_item(_mission_item);
-	const float alt_sp = math::max(alt_landing + _navigator->get_loiter_min_alt(),
+	const float alt_sp = math::max(alt_landing + _navigator->get_landing_abort_min_alt(),
 				       _navigator->get_global_position()->alt);
 
 	// turn current landing waypoint into an indefinite loiter
@@ -1469,10 +1468,10 @@ Mission::do_abort_landing()
 	publish_navigator_mission_item(); // for logging
 	_navigator->set_position_setpoint_triplet_updated();
 
-	mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing.\t",
+	mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing waypoint.\t",
 			 (int)(alt_sp - alt_landing));
 	events::send<float>(events::ID("mission_holding_above_landing"), events::Log::Info,
-			    "Holding at {1:.0m_v} above landing", alt_sp - alt_landing);
+			    "Holding at {1:.0m_v} above landing waypoint", alt_sp - alt_landing);
 
 	// reset mission index to start of landing
 	if (_land_start_available) {
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 7a996efb92..1d876fe88a 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -732,15 +732,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 		break;
 
 	case NAV_CMD_LOITER_TO_ALT:
-
-		// initially use current altitude, and switch to mission item altitude once in loiter position
-		if (_navigator->get_loiter_min_alt() > 0.f) { // ignore _param_loiter_min_alt if smaller than 0
-			sp->alt = math::max(_navigator->get_global_position()->alt,
-					    _navigator->get_home_position()->alt + _navigator->get_loiter_min_alt());
-
-		} else {
-			sp->alt = _navigator->get_global_position()->alt;
-		}
+		sp->alt = _navigator->get_global_position()->alt;
 
 	// FALLTHROUGH
 	case NAV_CMD_LOITER_TIME_LIMIT:
diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c
index 584e5a9ac5..8de343dac6 100644
--- a/src/modules/navigator/mission_params.c
+++ b/src/modules/navigator/mission_params.c
@@ -72,21 +72,6 @@ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
  */
 PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0);
 
-/**
- * Minimum Loiter altitude
- *
- * This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.
- * set to -1, if there shouldn't be a minimum loiter altitude
- *
- * @unit m
- * @min -1
- * @max 80
- * @decimal 1
- * @increment 0.5
- * @group Mission
- */
-PARAM_DEFINE_FLOAT(MIS_LTRMIN_ALT, -1.0f);
-
 /**
  * Maximal horizontal distance from home to first waypoint
  *
@@ -172,3 +157,16 @@ PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);
  * @group Mission
  */
 PARAM_DEFINE_FLOAT(MIS_PD_TO, 5.0f);
+
+/**
+ * Landing abort min altitude
+ *
+ * Minimum altitude above landing point that the vehicle will climb to after an aborted landing.
+ * Then vehicle will loiter in this altitude until further command is received.
+ * Only applies to fixed-wing vehicles.
+ *
+ * @unit m
+ * @min 0
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MIS_LND_ABRT_ALT, 30);
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index f191fdeda5..2b6e345dee 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -304,7 +304,7 @@ public:
 	void geofence_breach_check(bool &have_geofence_position_data);
 
 	// Param access
-	float get_loiter_min_alt() const { return _param_mis_ltrmin_alt.get(); }
+	int get_landing_abort_min_alt() const { return _param_mis_lnd_abrt_alt.get(); }
 	float get_takeoff_min_alt() const { return _param_mis_takeoff_alt.get(); }
 	int  get_takeoff_land_required() const { return _para_mis_takeoff_land_req.get(); }
 	float get_yaw_timeout() const { return _param_mis_yaw_tmt.get(); }
@@ -447,12 +447,12 @@ private:
 		(ParamFloat<px4::params::NAV_TRAFF_A_RADM>) _param_nav_traff_a_radm,	/**< avoidance Distance Manned*/
 
 		// non-navigator parameters: Mission (MIS_*)
-		(ParamFloat<px4::params::MIS_LTRMIN_ALT>)  _param_mis_ltrmin_alt,
 		(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
 		(ParamInt<px4::params::MIS_TKO_LAND_REQ>)  _para_mis_takeoff_land_req,
 		(ParamFloat<px4::params::MIS_YAW_TMT>)     _param_mis_yaw_tmt,
 		(ParamFloat<px4::params::MIS_YAW_ERR>)     _param_mis_yaw_err,
 		(ParamFloat<px4::params::MIS_PD_TO>)       _param_mis_payload_delivery_timeout,
-		(ParamFloat<px4::params::LNDMC_ALT_MAX>)   _param_lndmc_alt_max
+		(ParamFloat<px4::params::LNDMC_ALT_MAX>)   _param_lndmc_alt_max,
+		(ParamInt<px4::params::MIS_LND_ABRT_ALT>)  _param_mis_lnd_abrt_alt
 	)
 };
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index d4de6c18dd..028ddc3be1 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -336,14 +336,7 @@ void RTL::set_rtl_item()
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB: {
 
-			// do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to at least MIS_LTRMIN_ALT,
-			// even if current climb altitude is below (e.g. RTL immediately after take off)
-			if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-				_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-
-			} else {
-				_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
-			}
+			_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
 
 			_mission_item.lat = gpos.lat;
 			_mission_item.lon = gpos.lon;