From bf98503dec52901c407cf8888a0aed7661285b7a Mon Sep 17 00:00:00 2001
From: thomas <thomas@rigi.tech>
Date: Tue, 4 Oct 2022 17:44:25 +0200
Subject: [PATCH] better return altitude initialisation

---
 src/modules/navigator/rtl.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 8b2efafae7..3edb53e091 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -228,7 +228,9 @@ void RTL::find_RTL_destination()
 		}
 	}
 
-	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+	if (_param_rtl_cone_half_angle_deg.get() > 0.0
+	    && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
+	    && !_navigator->get_vstatus()->in_transition_to_fw) {
 		_rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get());
 
 	} else {