diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index e8e3c8cbe6..c93ab99517 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -283,7 +283,7 @@ MissionBlock::is_mission_item_reached_or_completed()
 
 				// check if within loiter radius around wp, if yes then set altitude sp to mission item
 				if (dist >= 0.0f && dist_xy <= (_navigator->get_acceptance_radius() + fabsf(_mission_item.loiter_radius))
-				    && dist_z <= _navigator->get_default_altitude_acceptance_radius()) {
+				    && dist_z <= _navigator->get_altitude_acceptance_radius()) {
 
 					curr_sp->alt = mission_item_altitude_amsl;
 					curr_sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER;
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index b0e84064f0..004f8e1f4a 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -200,13 +200,6 @@ public:
 	 */
 	float get_acceptance_radius();
 
-	/**
-	 * Get the default altitude acceptance radius (i.e. from parameters)
-	 *
-	 * @return the distance from the target altitude before considering the waypoint reached
-	 */
-	float get_default_altitude_acceptance_radius();
-
 	/**
 	 * Get the altitude acceptance radius
 	 *
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index b414555c63..565ec28ac1 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -988,10 +988,18 @@ float Navigator::get_default_acceptance_radius()
 	return _param_nav_acc_rad.get();
 }
 
-float Navigator::get_default_altitude_acceptance_radius()
+float Navigator::get_altitude_acceptance_radius()
 {
 	if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
-		return _param_nav_fw_alt_rad.get();
+		const position_setpoint_s &next_sp = get_position_setpoint_triplet()->next;
+
+		if (!force_vtol() && next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
+			// Use separate (tighter) altitude acceptance for clean altitude starting point before FW landing
+			return _param_nav_fw_altl_rad.get();
+
+		} else {
+			return _param_nav_fw_alt_rad.get();
+		}
 
 	} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
 		return INFINITY;
@@ -1010,20 +1018,6 @@ float Navigator::get_default_altitude_acceptance_radius()
 	}
 }
 
-float Navigator::get_altitude_acceptance_radius()
-{
-	if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
-		const position_setpoint_s &next_sp = get_position_setpoint_triplet()->next;
-
-		if (next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
-			// Use separate (tighter) altitude acceptance for clean altitude starting point before landing
-			return _param_nav_fw_altl_rad.get();
-		}
-	}
-
-	return get_default_altitude_acceptance_radius();
-}
-
 float Navigator::get_cruising_speed()
 {
 	/* there are three options: The mission-requested cruise speed, or the current hover / plane speed */