diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 797c5e8de5..2fc3ba2d4a 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -319,7 +319,15 @@ void RTL::set_rtl_item()
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB: {
 
-			_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
+			// 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)
+			if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+				_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+
+			} else {
+				_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
+			}
+
 			_mission_item.lat = gpos.lat;
 			_mission_item.lon = gpos.lon;
 			_mission_item.altitude = _rtl_alt;