diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index c4e50370b5..e2af064cf6 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -548,7 +548,6 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
 
 	item->altitude = 0;
 	item->altitude_is_relative = false;
-	item->yaw = NAN;
 	item->loiter_radius = _navigator->get_loiter_radius();
 	item->loiter_direction = 1;
 	item->acceptance_radius = _navigator->get_acceptance_radius();
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 38ef79a9ca..62bc19b061 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -267,6 +267,7 @@ RTL::set_rtl_item()
 	}
 
 	case RTL_STATE_LAND: {
+		_mission_item.yaw = _navigator->get_home_position()->yaw;
 		set_land_item(&_mission_item, false);
 
 		mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: land at home");