diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 6b80ed9b60..d2dc738f6b 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -394,7 +394,7 @@ void RTL::setRtlTypeAndDestination()
 		}
 	}
 
-	const float rtl_alt = computeReturnAltitude(destination, destination_type, (float)_param_rtl_cone_ang.get());
+	const float rtl_alt = computeReturnAltitude(destination);
 	_rtl_direct.setRtlAlt(rtl_alt);
 	_rtl_direct.setRtlPosition(destination, landing_loiter);
 
@@ -579,7 +579,7 @@ void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position, const mis
 	}
 }
 
-float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, DestinationType destination_type, float cone_half_angle_deg) const
+float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position) const
 {
 	if (_param_rtl_cone_ang.get() > 0 && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 		// horizontal distance to destination
@@ -602,7 +602,7 @@ float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, Destin
 			if (destination_dist <= _param_rtl_min_dist.get()) {
 
 				// constrain cone half angle to meaningful values. All other cases are already handled above.
-				const float cone_half_angle_rad = radians(constrain(cone_half_angle_deg, 1.0f, 89.0f));
+				const float cone_half_angle_rad = radians(constrain((float)_param_rtl_cone_ang.get(), 1.0f, 89.0f));
 
 				// minimum altitude we need in order to be within the user defined cone
 				const float cone_intersection_altitude_amsl = destination_dist / tanf(cone_half_angle_rad) + rtl_position.alt;
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index 35cff4bdcb..a7c64ef60f 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -155,11 +155,10 @@ private:
 	 * @brief calculate return altitude from return altitude parameter, current altitude and cone angle
 	 *
 	 * @param[in] rtl_position landing position of the rtl
-	 * @param[in] destination_type type of the rtl destination
-	 * @param[in] cone_half_angle_deg half angle of the cone [deg]
+	 *
 	 * @return return altitude
 	 */
-	float computeReturnAltitude(const PositionYawSetpoint &rtl_position, DestinationType destination_type, float cone_half_angle_deg) const;
+	float computeReturnAltitude(const PositionYawSetpoint &rtl_position) const;
 
 	/**
 	 * @brief initialize RTL mission type