diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 38db1816998e..60d74f1d1aa8 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -271,6 +271,7 @@ void RTL::on_activation()
 		break;
 
 	case RtlType::VTOL_LAND:
+		_rtl_direct.setReturnAltMin(_enforce_rtl_alt);
 		_rtl_vtol_land.on_activation();
 		break;
 
@@ -342,6 +343,7 @@ void RTL::setRtlTypeAndDestination()
 				if (vtol_land) {
 					_rtl_type = RtlType::VTOL_LAND;
 					_rtl_vtol_land.setRtlApproach(rtl_position, chooseBestLandingApproach());
+					_rtl_vtol_land.setRtlAlt(rtl_alt);
 
 				} else {
 					_rtl_direct.setRtlAlt(rtl_alt);
diff --git a/src/modules/navigator/vtol_land.cpp b/src/modules/navigator/vtol_land.cpp
index 0ce6a912b7dd..fe8165e93783 100644
--- a/src/modules/navigator/vtol_land.cpp
+++ b/src/modules/navigator/vtol_land.cpp
@@ -64,9 +64,10 @@ VtolLand::on_activation()
 {
 	_global_pos_sub.update();
 	_home_pos_sub.update();
+	_land_detected_sub.update();
 
 	if (!PX4_ISFINITE(_rtl_position.lat) || !PX4_ISFINITE(_rtl_position.lon)) {
-		// We don't have a valid rtl pposition, use the home position instead.
+		// We don't have a valid rtl position, use the home position instead.
 		_rtl_position.lat = _home_pos_sub.get().lat;
 		_rtl_position.lon = _home_pos_sub.get().lon;
 		_rtl_position.alt = _home_pos_sub.get().alt;
@@ -92,16 +93,18 @@ VtolLand::on_activation()
 		_land_approach.loiter_radius_m = _param_rtl_loiter_rad.get();
 	}
 
-	_land_state = vtol_land_state::MOVE_TO_LOITER;
+	if (_land_detected_sub.get().landed) {
+		// For safety reasons don't go into RTL if landed.
+		_land_state = vtol_land_state::IDLE;
 
-	set_loiter_position();
-}
+	} else if ((_global_pos_sub.get().alt < _rtl_position.alt + _param_return_alt_rel_m.get()) || _enforce_rtl_alt) {
+		_land_state = vtol_land_state::CLIMBING;
 
-void VtolLand::on_inactive()
-{
-	_global_pos_sub.update();
-	_home_pos_sub.update();
+	} else {
+		_land_state = vtol_land_state::MOVE_TO_LOITER;
+	}
 
+	setRtlItem();
 }
 
 void
@@ -109,148 +112,162 @@ VtolLand::on_active()
 {
 	_global_pos_sub.update();
 	_home_pos_sub.update();
+	_land_detected_sub.update();
+	_local_pos_sub.update();
 
 	if (is_mission_item_reached_or_completed()) {
-		switch	(_land_state) {
-		case vtol_land_state::MOVE_TO_LOITER: {
-				_mission_item.altitude = _rtl_position.alt + _land_approach.height_m;
-				_mission_item.lat = _land_approach.lat;
-				_mission_item.lon = _land_approach.lon;
-				_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
-				_mission_item.loiter_radius = _param_rtl_loiter_rad.get();
+		setRtlItem();
+	}
+}
 
-				_navigator->get_mission_result()->finished = false;
-				_navigator->set_mission_result_updated();
-				reset_mission_item_reached();
+void VtolLand::setRtlApproach(RtlPosition rtl_position, loiter_point_s loiter_pos)
+{
+	if (!isActive()) {
+		_land_approach = loiter_pos;
+		_rtl_position = rtl_position;
+	}
+}
 
-				// convert mission item to current setpoint
-				struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-				mission_apply_limitation(_mission_item);
-				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+void VtolLand::setRtlItem()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
-				pos_sp_triplet->next.valid = true;
-				pos_sp_triplet->next.lat = _rtl_position.lat;
-				pos_sp_triplet->next.lon = _rtl_position.lon;
-				pos_sp_triplet->next.type = position_setpoint_s::SETPOINT_TYPE_LAND;
+	switch	(_land_state) {
+	case vtol_land_state::CLIMBING: {
+			_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
+			_mission_item.lat = _global_pos_sub.get().lat;
+			_mission_item.lon = _global_pos_sub.get().lon;
+			_mission_item.altitude = _rtl_alt;
+			_mission_item.altitude_is_relative = false;
+			_mission_item.yaw = _local_pos_sub.get().heading;
+
+			_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+			_mission_item.time_inside = 0.0f;
+			_mission_item.autocontinue = true;
+			_mission_item.origin = ORIGIN_ONBOARD;
+			_mission_item.loiter_radius = _navigator->get_loiter_radius();
+
+			mavlink_log_info(_navigator->get_mavlink_log_pub(), "VTOL RTL: climb to %d m (%d m above destination)\t",
+					 (int)ceilf(_rtl_alt), (int)ceilf(_rtl_alt - _rtl_position.alt));
+			events::send<int32_t, int32_t>(events::ID("vtol_rtl_climb_to"), events::Log::Info,
+						       "VTOL RTL: climb to {1m_v} ({2m_v} above destination)",
+						       (int32_t)ceilf(_rtl_alt), (int32_t)ceilf(_rtl_alt - _rtl_position.alt));
+
+			_land_state = vtol_land_state::MOVE_TO_LOITER;
+			break;
+		}
 
-				pos_sp_triplet->previous.valid = false;
-				pos_sp_triplet->current.yaw_valid = true;
+	case vtol_land_state::MOVE_TO_LOITER: {
+			_mission_item.lat  = _land_approach.lat;
+			_mission_item.lon = _land_approach.lon;
+			_mission_item.altitude = math::max(_rtl_position.alt + _param_return_alt_rel_m.get(),
+							   _global_pos_sub.get().alt);
+			_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+			_mission_item.force_heading = true;
+			_mission_item.autocontinue = false;
+			_mission_item.time_inside = _min_loiter_time_before_land;
 
-				_land_state = vtol_land_state::LOITER_DOWN;
-				break;
-			}
+			_mission_item.altitude_is_relative = false;
 
-		case vtol_land_state::LOITER_DOWN: {
-				_mission_item.lat = _rtl_position.lat;
-				_mission_item.lon = _rtl_position.lon;
-				_mission_item.altitude = _rtl_position.alt + _land_approach.height_m;
+			_mission_item.loiter_radius = _land_approach.loiter_radius_m;
+			_mission_item.origin = ORIGIN_ONBOARD;
 
-				_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-				_mission_item.vtol_back_transition = true;
+			_navigator->set_can_loiter_at_sp(true);
 
-				struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+			pos_sp_triplet->next.valid = false;
 
-				// set previous item location to loiter location such that vehicle tracks line between loiter
-				// location and land location after exiting the loiter circle
-				pos_sp_triplet->previous.lat = _land_approach.lat;
-				pos_sp_triplet->previous.lon = _land_approach.lon;
-				pos_sp_triplet->previous.alt = _mission_item.altitude;
-				pos_sp_triplet->previous.valid = true;
+			_land_state = vtol_land_state::LOITER_DOWN;
 
-				//publish_navigator_mission_item(); // for logging
-				_navigator->set_position_setpoint_triplet_updated();
+			break;
+		}
 
-				reset_mission_item_reached();
+	case vtol_land_state::LOITER_DOWN: {
+			_mission_item.altitude = _rtl_position.alt + _land_approach.height_m;
+			_mission_item.lat = _land_approach.lat;
+			_mission_item.lon = _land_approach.lon;
+			_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
+			_mission_item.loiter_radius = _param_rtl_loiter_rad.get();
 
-				_land_state = vtol_land_state::TRANSITION_TO_MC;
+			pos_sp_triplet->next.valid = true;
+			pos_sp_triplet->next.lat = _rtl_position.lat;
+			pos_sp_triplet->next.lon = _rtl_position.lon;
+			pos_sp_triplet->next.type = position_setpoint_s::SETPOINT_TYPE_LAND;
 
-				break;
-			}
+			pos_sp_triplet->previous.valid = false;
+			pos_sp_triplet->current.yaw_valid = true;
 
-		case vtol_land_state::TRANSITION_TO_MC: {
-				set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);
-				_mission_item.vtol_back_transition = true;
+			_land_state = vtol_land_state::MOVE_TO_LAND;
+			break;
+		}
 
-				issue_command(_mission_item);
+	case vtol_land_state::MOVE_TO_LAND: {
+			_mission_item.lat = _rtl_position.lat;
+			_mission_item.lon = _rtl_position.lon;
+			_mission_item.altitude = _rtl_position.alt + _land_approach.height_m;
 
-				struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+			_mission_item.vtol_back_transition = true;
 
-				//publish_navigator_mission_item(); // for logging
-				_navigator->set_position_setpoint_triplet_updated();
+			// set previous item location to loiter location such that vehicle tracks line between loiter
+			// location and land location after exiting the loiter circle
+			pos_sp_triplet->previous.lat = _land_approach.lat;
+			pos_sp_triplet->previous.lon = _land_approach.lon;
+			pos_sp_triplet->previous.alt = _mission_item.altitude;
+			pos_sp_triplet->previous.valid = true;
 
-				// issue_command(_mission_item);
-				reset_mission_item_reached();
+			_land_state = vtol_land_state::TRANSITION_TO_MC;
 
-				_land_state = vtol_land_state::LAND;
+			break;
+		}
 
-				break;
-			}
+	case vtol_land_state::TRANSITION_TO_MC: {
+			set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);
+			_mission_item.vtol_back_transition = true;
 
-		case vtol_land_state::LAND: {
-				_mission_item.nav_cmd = NAV_CMD_LAND;
-				struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+			reset_mission_item_reached();
 
-				//publish_navigator_mission_item(); // for logging
-				_navigator->set_position_setpoint_triplet_updated();
+			_land_state = vtol_land_state::LAND;
 
-				// issue_command(_mission_item);
-				reset_mission_item_reached();
+			break;
+		}
 
-				_land_state = vtol_land_state::IDLE;
+	case vtol_land_state::LAND: {
+			_mission_item.nav_cmd = NAV_CMD_LAND;
+			_mission_item.lat = _rtl_position.lat;
+			_mission_item.lon = _rtl_position.lon;
+			_mission_item.altitude = _rtl_position.alt;
 
-				break;
-			}
+			_land_state = vtol_land_state::IDLE;
 
-		default: {
+			break;
+		}
+
+	case vtol_land_state::IDLE: {
+			set_idle_item(&_mission_item);
+			_land_state = vtol_land_state::IDLE;
 
-				break;
-			}
+			break;
 		}
-	}
-}
 
-void VtolLand::setRtlApproach(RtlPosition rtl_position, loiter_point_s loiter_pos)
-{
-	if (!isActive()) {
-		_land_approach = loiter_pos;
-		_rtl_position = rtl_position;
+	default: {
+
+			break;
+		}
 	}
-}
 
-void
-VtolLand::set_loiter_position()
-{
-	_mission_item.lat  = _land_approach.lat;
-	_mission_item.lon = _land_approach.lon;
-	_mission_item.altitude = math::max(_rtl_position.alt + _param_return_alt_rel_m.get(),
-					   _global_pos_sub.get().alt);
-	_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
-	_mission_item.force_heading = true;
-	_mission_item.autocontinue = false;
-	_mission_item.time_inside = _min_loiter_time_before_land;
-
-	_mission_item.altitude_is_relative = false;
-
-	_mission_item.loiter_radius = _land_approach.loiter_radius_m;
-	_mission_item.origin = ORIGIN_ONBOARD;
-
-	_navigator->get_mission_result()->finished = false;
-	_navigator->set_mission_result_updated();
 	reset_mission_item_reached();
 
-	// convert mission item to current setpoint
-	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-	mission_apply_limitation(_mission_item);
-	mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
-
-	_navigator->set_can_loiter_at_sp(true);
+	// Execute command if set. This is required for commands like VTOL transition.
+	if (!MissionBlock::item_contains_position(_mission_item)) {
+		issue_command(_mission_item);
+	}
 
-	pos_sp_triplet->next.valid = false;
+	// Convert mission item to current position setpoint and make it valid.
+	mission_apply_limitation(_mission_item);
 
-	_navigator->set_position_setpoint_triplet_updated();
+	if (mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current)) {
+		_navigator->set_position_setpoint_triplet_updated();
+	}
 }
 
 rtl_time_estimate_s VtolLand::calc_rtl_time_estimate()
diff --git a/src/modules/navigator/vtol_land.h b/src/modules/navigator/vtol_land.h
index 1cce3bbf9b9b..659e0556c225 100644
--- a/src/modules/navigator/vtol_land.h
+++ b/src/modules/navigator/vtol_land.h
@@ -51,6 +51,8 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/rtl_time_estimate.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/wind.h>
 
 #include <px4_platform_common/module_params.h>
@@ -63,17 +65,20 @@ class VtolLand : public MissionBlock, public ModuleParams
 
 	void on_activation() override;
 	void on_active() override;
-	void on_inactive() override;
 
 	void setRtlApproach(RtlPosition rtl_position, loiter_point_s loiter_pos);
+	void setReturnAltMin(bool min) { _enforce_rtl_alt = min; };
+	void setRtlAlt(float alt) {_rtl_alt = alt;};
 
 	rtl_time_estimate_s calc_rtl_time_estimate();
 
 private:
 
 	enum class vtol_land_state {
-		MOVE_TO_LOITER = 0,
+		CLIMBING = 0,
+		MOVE_TO_LOITER,
 		LOITER_DOWN,
+		MOVE_TO_LAND,
 		TRANSITION_TO_MC,
 		LAND,
 		IDLE
@@ -82,13 +87,19 @@ class VtolLand : public MissionBlock, public ModuleParams
 	RtlPosition _rtl_position;
 	loiter_point_s _land_approach;
 
+	bool _enforce_rtl_alt{false};
+	float _rtl_alt{0.0f};	///< AMSL altitude at which the vehicle should return to the home position
+
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_return_alt_rel_m,
 		(ParamFloat<px4::params::RTL_LOITER_RAD>) _param_rtl_loiter_rad
 	)
 
 	void set_loiter_position();
+	void setRtlItem();
 
 	uORB::SubscriptionData<vehicle_global_position_s> _global_pos_sub{ORB_ID(vehicle_global_position)};	/**< global position subscription */
 	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
+	uORB::SubscriptionData<vehicle_land_detected_s> _land_detected_sub{ORB_ID(vehicle_land_detected)};	/**< vehicle land detected subscription */
+	uORB::SubscriptionData<vehicle_local_position_s> _local_pos_sub{ORB_ID(vehicle_local_position)};	/**< vehicle status subscription */
 };