diff --git a/src/modules/navigator/rtl_mission_fast.cpp b/src/modules/navigator/rtl_mission_fast.cpp
index bb73fd6952..6c1d99d5fd 100644
--- a/src/modules/navigator/rtl_mission_fast.cpp
+++ b/src/modules/navigator/rtl_mission_fast.cpp
@@ -190,8 +190,14 @@ void RtlMissionFast::setActiveMissionItems()
 			pos_sp_triplet->previous = current_setpoint_copy;
 		}
 
-		if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && isLanding() &&
-		    _mission_item.nav_cmd == NAV_CMD_WAYPOINT) {
+		const bool fw_on_mission_landing = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
+						   && isLanding() &&
+						   _mission_item.nav_cmd == NAV_CMD_WAYPOINT;
+		const bool mc_landing_after_transition = _vehicle_status_sub.get().vehicle_type ==
+				vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _vehicle_status_sub.get().is_vtol &&
+				new_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
+
+		if (fw_on_mission_landing || mc_landing_after_transition) {
 			pos_sp_triplet->current.alt_acceptance_radius = FLT_MAX;
 		}
 	}