diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index bd2f763153..2a05d21784 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -355,17 +355,21 @@ float RTL::calculate_return_alt_from_cone_half_angle(float cone_half_angle_deg)
 	const home_position_s &home = *_navigator->get_home_position();
 	const vehicle_global_position_s &gpos = *_navigator->get_global_position();
 
+	// horizontal distance to home position
+	const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);
+
 	float rtl_altitude;
 
-	if (gpos.alt > home.alt + _param_rtl_return_alt.get() || cone_half_angle_deg >= 90.0f) {
+	if (home_dist <= _param_rtl_min_dist.get()) {
+		rtl_altitude = home.alt + _param_rtl_descend_alt.get();
+
+	} else if (gpos.alt > home.alt + _param_rtl_return_alt.get() || cone_half_angle_deg >= 90.0f) {
 		rtl_altitude = gpos.alt;
 
 	} else if (cone_half_angle_deg <= 0) {
 		rtl_altitude = home.alt + _param_rtl_return_alt.get();
 
 	} else {
-		// horizontal distance to home position
-		const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);
 
 		// constrain cone half angle to meaningful values. All other cases are already handled above.
 		const float cone_half_angle_rad = math::radians(math::constrain(cone_half_angle_deg, 1.0f, 89.0f));
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index c8777a41ca..ea6cf59dd1 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -94,7 +94,7 @@ private:
 		RTL_STATE_LANDED,
 	} _rtl_state{RTL_STATE_NONE};
 
-	float _rtl_alt;	// AMSL altitude at which the vehicle should return to the home position
+	float _rtl_alt{0.0f};	// AMSL altitude at which the vehicle should return to the home position
 	bool _rtl_alt_min{false};
 
 	DEFINE_PARAMETERS(
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
index 59d09c54ae..7f6d95e5c1 100644
--- a/src/modules/navigator/rtl_params.c
+++ b/src/modules/navigator/rtl_params.c
@@ -125,7 +125,12 @@ PARAM_DEFINE_INT32(RTL_TYPE, 0);
  * @unit degrees
  * @min 0
  * @max 90
- * @increment 1
+ * @value 0 No cone, always climb to RTL_RETURN_ALT above home.
+ * @value 25 25 degrees half cone angle.
+ * @value 45 45 degrees half cone angle.
+ * @value 65 65 degrees half cone angle.
+ * @value 80 80 degrees half cone angle.
+ * @value 90 Only climb to at least RTL_DESCEND_ALT above home.
  * @group Return Mode
  */
-PARAM_DEFINE_INT32(RTL_CONE_ANG, 30);
+PARAM_DEFINE_INT32(RTL_CONE_ANG, 0);