diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index f4683c7a46..f585275b24 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -286,7 +286,7 @@ public:
 	float 	get_mission_landing_alt() { return _mission.get_landing_alt(); }
 
 	// RTL
-	bool		mission_landing_required() { return _rtl.get_rtl_type() == RTL::RTL_LAND; }
+	bool		mission_landing_required() { return _rtl.get_rtl_type() == RTL::RTL_TYPE_MISSION_LANDING; }
 	bool		in_rtl_state() const { return _vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; }
 
 	bool		abort_landing();
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 0cbc26deb6..625e24331c 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -574,10 +574,10 @@ Navigator::run()
 				const bool rtl_activated = _previous_nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
 				switch (_rtl.get_rtl_type()) {
-				case RTL::RTL_LAND: // use mission landing
-				case RTL::RTL_CLOSEST:
+				case RTL::RTL_TYPE_MISSION_LANDING: // use mission landing
+				case RTL::RTL_TYPE_CLOSEST:
 					if (rtl_activated) {
-						if (_rtl.get_rtl_type() == RTL::RTL_LAND) {
+						if (_rtl.get_rtl_type() == RTL::RTL_TYPE_MISSION_LANDING) {
 							mavlink_log_info(get_mavlink_log_pub(), "RTL LAND activated\t");
 							events::send(events::ID("navigator_rtl_landing_activated"), events::Log::Info, "RTL activated");
 
@@ -606,7 +606,7 @@ Navigator::run()
 
 					break;
 
-				case RTL::RTL_MISSION:
+				case RTL::RTL_TYPE_MISSION_LANDING_REVERSED:
 					if (_mission.get_land_start_available() && !get_land_detected()->landed) {
 						// the mission contains a landing spot
 						_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 21e9794ff1..ea641521b0 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -115,8 +115,8 @@ void RTL::find_RTL_destination()
 				     && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 
 
-	// consider the mission landing if not RTL_HOME type set
-	if (_param_rtl_type.get() != RTL_HOME && _navigator->get_mission_start_land_available()) {
+	// consider the mission landing if not RTL_TYPE_HOME_ONLY type set
+	if (_param_rtl_type.get() != RTL_TYPE_HOME_ONLY && _navigator->get_mission_start_land_available()) {
 		double mission_landing_lat;
 		double mission_landing_lon;
 		float mission_landing_alt;
@@ -137,8 +137,8 @@ void RTL::find_RTL_destination()
 		dlon = mission_landing_lon - global_position.lon;
 		double dist_squared = coord_dist_sq(dlat, dlon);
 
-		// set destination to mission landing if closest or in RTL_LAND or RTL_MISSION (so not in RTL_CLOSEST)
-		if (dist_squared < min_dist_squared || _param_rtl_type.get() != RTL_CLOSEST) {
+		// set destination to mission landing if closest or in RTL_TYPE_MISSION_LANDING or RTL_TYPE_MISSION_LANDING_REVERSED (so not in RTL_TYPE_CLOSEST)
+		if (dist_squared < min_dist_squared || _param_rtl_type.get() != RTL_TYPE_CLOSEST) {
 			min_dist_squared = dist_squared;
 			_destination.lat = mission_landing_lat;
 			_destination.lon = mission_landing_lon;
@@ -147,8 +147,8 @@ void RTL::find_RTL_destination()
 		}
 	}
 
-	// do not consider rally point if RTL type is set to RTL_MISSION, so exit function and use either home or mission landing
-	if (_param_rtl_type.get() == RTL_MISSION) {
+	// do not consider rally point if RTL type is set to RTL_TYPE_MISSION_LANDING_REVERSED, so exit function and use either home or mission landing
+	if (_param_rtl_type.get() == RTL_TYPE_MISSION_LANDING_REVERSED) {
 		return;
 	}
 
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index f31173fa70..aa69c6f73d 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -64,10 +64,10 @@ public:
 	~RTL() = default;
 
 	enum RTLType {
-		RTL_HOME = 0,
-		RTL_LAND,
-		RTL_MISSION,
-		RTL_CLOSEST,
+		RTL_TYPE_HOME_ONLY = 0,
+		RTL_TYPE_MISSION_LANDING,
+		RTL_TYPE_MISSION_LANDING_REVERSED,
+		RTL_TYPE_CLOSEST,
 	};
 
 	enum RTLDestinationType {