diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp
index cb3aaba25c..1d73483465 100644
--- a/src/modules/navigator/rtl_direct.cpp
+++ b/src/modules/navigator/rtl_direct.cpp
@@ -77,12 +77,7 @@ void RtlDirect::on_activation()
 
 	parameters_update();
 
-	if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
-		_rtl_state = RTLState::LAND;
-
-	} else {
-		_rtl_state = getActivationLandState();
-	}
+	_rtl_state = getActivationState();
 
 	// reset cruising speed and throttle to default for RTL
 	_navigator->reset_cruising_speed();
@@ -410,24 +405,28 @@ void RtlDirect::set_rtl_item()
 	publish_rtl_direct_navigator_mission_item(); // for logging
 }
 
-RtlDirect::RTLState RtlDirect::getActivationLandState()
+RtlDirect::RTLState RtlDirect::getActivationState()
 {
 	_land_detected_sub.update();
 
-	RTLState land_state;
+	RTLState activation_state;
 
-	if (_land_detected_sub.get().landed) {
+	if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
+		// Skip to LAND state if we are a rover
+		activation_state = RTLState::LAND;
+
+	} else if (_land_detected_sub.get().landed) {
 		// For safety reasons don't go into RTL if landed.
-		land_state = RTLState::IDLE;
+		activation_state = RTLState::IDLE;
 
 	} else if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) {
-		land_state = RTLState::CLIMBING;
+		activation_state = RTLState::CLIMBING;
 
 	} else {
-		land_state = RTLState::MOVE_TO_LOITER;
+		activation_state = RTLState::MOVE_TO_LOITER;
 	}
 
-	return land_state;
+	return activation_state;
 }
 
 rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate()
@@ -443,7 +442,7 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate()
 		start_state_for_estimate = _rtl_state;
 
 	} else {
-		start_state_for_estimate = getActivationLandState();
+		start_state_for_estimate = getActivationState();
 	}
 
 	// Calculate RTL time estimate only when there is a valid destination
diff --git a/src/modules/navigator/rtl_direct.h b/src/modules/navigator/rtl_direct.h
index 0a584234ec..c2dd3e00ea 100644
--- a/src/modules/navigator/rtl_direct.h
+++ b/src/modules/navigator/rtl_direct.h
@@ -159,7 +159,7 @@ private:
 	 */
 	void publish_rtl_direct_navigator_mission_item();
 
-	RTLState getActivationLandState();
+	RTLState getActivationState();
 
 	void setLoiterPosition();