diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index da0a83e46c..12b26421d6 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -137,6 +137,16 @@ float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
         return altitude;
     }
 #endif
+
+    if (quadplane.in_vtol_land_descent() &&
+        !(quadplane.options & QuadPlane::OPTION_MISSION_LAND_FW_APPROACH)) {
+        // when doing a VTOL landing we can use the waypoint height as
+        // ground height. We can't do this if using the
+        // LAND_FW_APPROACH as that uses the wp height as the approach
+        // height
+        return height_above_target();
+    }
+
     return relative_altitude;
 }
 
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 203d4a03cb..9862c21491 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2521,7 +2521,15 @@ bool QuadPlane::verify_vtol_land(void)
         plane.auto_state.wp_distance < 2) {
         poscontrol.state = QPOS_LAND_DESCEND;
         gcs().send_text(MAV_SEVERITY_INFO,"Land descend started");
-        plane.set_next_WP(plane.next_WP_loc);
+        if (plane.control_mode == AUTO) {
+            // set height to mission height, so we can use the mission
+            // WP height for triggering land final if no rangefinder
+            // available
+            plane.set_next_WP(plane.mission.get_current_nav_cmd().content.location);
+        } else {
+            plane.set_next_WP(plane.next_WP_loc);
+            plane.next_WP_loc.alt = ahrs.get_home().alt;
+        }
     }
 
     // at land_final_alt begin final landing
@@ -2640,8 +2648,7 @@ int8_t QuadPlane::forward_throttle_pct(void)
     int8_t fwd_throttle_min = plane.have_reverse_thrust() ? 0 : plane.aparm.throttle_min;
     vel_forward.integrator = constrain_float(vel_forward.integrator, fwd_throttle_min, plane.aparm.throttle_max);
 
-    if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
-        (poscontrol.state == QPOS_POSITION1 || poscontrol.state == QPOS_POSITION2)) {
+    if (in_vtol_land_approach()) {
         // when we are doing horizontal positioning in a VTOL land
         // we always allow the fwd motor to run. Otherwise a bad
         // lidar could cause the aircraft not to be able to
@@ -2933,3 +2940,27 @@ void QuadPlane::update_throttle_thr_mix(void)
         }
     }
 }
+
+/*
+  see if we are in the approach phase of a VTOL landing
+ */
+bool QuadPlane::in_vtol_land_approach(void) const
+{
+    if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
+        (poscontrol.state == QPOS_POSITION1 || poscontrol.state == QPOS_POSITION2)) {
+        return true;
+    }
+    return false;
+}
+
+/*
+  see if we are in the descent phase of a VTOL landing
+ */
+bool QuadPlane::in_vtol_land_descent(void) const
+{
+    if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
+        (poscontrol.state == QPOS_LAND_DESCEND || poscontrol.state == QPOS_LAND_FINAL)) {
+        return true;
+    }
+    return false;
+}
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index c4e7c847e1..cd3ce32176 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -499,6 +499,16 @@ private:
     QAutoTune qautotune;
 #endif
 
+    /*
+      are we in the approach phase of a VTOL landing?
+     */
+    bool in_vtol_land_approach(void) const;
+
+    /*
+      are we in the descent phase of a VTOL landing?
+     */
+    bool in_vtol_land_descent(void) const;
+    
 public:
     void motor_test_output();
     MAV_RESULT mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type,