diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 3afc3de1fe..3ee1620303 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -592,7 +592,7 @@ void Navigator::run()
 				case RTL::RTL_TYPE_CLOSEST:
 
 					if (!rtl_activated && _rtl.getClimbAndReturnDone()
-					    && _rtl.getDestinationTypeMissionLanding()) {
+					    && _rtl.getShouldEngageMissionForLanding()) {
 						_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
 
 						if (!getMissionLandingInProgress() && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index df1d2a9613..54978d8a1f 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -242,6 +242,13 @@ void RTL::find_RTL_destination()
 
 void RTL::on_activation()
 {
+	setClimbAndReturnDone(false);
+
+	// if a mission landing is desired we should only execute mission navigation mode if we currently are in fw mode
+	// In multirotor mode no landing pattern is required so we can just navigate to the land point directly and don't need to run mission
+	_should_engange_mission_for_landing = (_destination.type == RTL_DESTINATION_MISSION_LANDING)
+					      && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
+
 	// output the correct message, depending on where the RTL destination is
 	switch (_destination.type) {
 	case RTL_DESTINATION_HOME:
@@ -318,25 +325,6 @@ void RTL::on_active()
 
 void RTL::set_rtl_item()
 {
-	// RTL_TYPE: mission landing.
-	// Landing using planned mission landing, fly to DO_LAND_START instead of returning _destination.
-	// After reaching DO_LAND_START, do nothing, let navigator takeover with mission landing.
-	if (_destination.type == RTL_DESTINATION_MISSION_LANDING) {
-		if (_rtl_state > RTL_STATE_RETURN) {
-			if (_navigator->start_mission_landing()) {
-				mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: using mission landing\t");
-				events::send(events::ID("rtl_using_mission_landing"), events::Log::Info, "RTL: using mission landing");
-				return;
-
-			} else {
-				// Otherwise use regular RTL.
-				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RTL: unable to use mission landing\t");
-				events::send(events::ID("rtl_not_using_mission_landing"), events::Log::Error,
-					     "RTL: unable to use mission landing, doing regular RTL");
-			}
-		}
-	}
-
 	_navigator->set_can_loiter_at_sp(false);
 
 	const vehicle_global_position_s &gpos = *_navigator->get_global_position();
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index 02570dca84..42f8f320f5 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -100,7 +100,7 @@ public:
 	void get_rtl_xy_z_speed(float &xy, float &z);
 	matrix::Vector2f get_wind();
 
-	bool getDestinationTypeMissionLanding() { return _destination.type == RTL_DESTINATION_MISSION_LANDING; }
+	bool getShouldEngageMissionForLanding() const { return _should_engange_mission_for_landing; }
 
 private:
 
@@ -162,6 +162,7 @@ private:
 
 	bool _climb_and_return_done{false};	// this flag is set to true if RTL is active and we are past the climb state and return state
 	bool _rtl_alt_min{false};
+	bool _should_engange_mission_for_landing{false};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RTL_RETURN_ALT>)  _param_rtl_return_alt,