diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 6e754588bb..a77f5895e1 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -221,7 +221,7 @@ RTL::set_rtl_item()
 		_mission_item.lon = _navigator->get_home_position()->lon;
 		_mission_item.altitude_is_relative = false;
 		_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
-		_mission_item.yaw = NAN;
+		_mission_item.yaw = _navigator->get_home_position()->yaw;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
@@ -247,7 +247,7 @@ RTL::set_rtl_item()
 		_mission_item.lon = _navigator->get_home_position()->lon;
 		_mission_item.altitude_is_relative = false;
 		_mission_item.altitude = _navigator->get_home_position()->alt;
-		_mission_item.yaw = NAN;
+		_mission_item.yaw = _navigator->get_home_position()->yaw;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_LAND;
@@ -266,6 +266,7 @@ RTL::set_rtl_item()
 		_mission_item.lon = _navigator->get_home_position()->lon;
 		_mission_item.altitude_is_relative = false;
 		_mission_item.altitude = _navigator->get_home_position()->alt;
+		// Do not change / control yaw in landed
 		_mission_item.yaw = NAN;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
 		_mission_item.loiter_direction = 1;