diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
index 3dc3c9ee1a..695f851ff0 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
index 7963669c85..12e828c08c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
index d5b59f7007..ef2cd02606 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
index 487a1729c8..544fd746e1 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
@@ -23,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 
 param set-default NAV_ACC_RAD 15
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
index 22d7e21119..23b7757d4b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp
index df6674e34a..5f55b92aff 100644
--- a/src/modules/navigator/rtl_direct_mission_land.cpp
+++ b/src/modules/navigator/rtl_direct_mission_land.cpp
@@ -125,8 +125,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
 
 	// Climb to altitude
 	if (_needs_climbing && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) {
-		// do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to at least MIS_LTRMIN_ALT,
-		// even if current climb altitude is below (e.g. RTL immediately after take off)
+		// TODO: check if we also should use NAV_CMD_LOITER_TO_ALT for rotary wing
 		if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;