diff --git a/src/modules/navigator/rtl_mission_fast_reverse.cpp b/src/modules/navigator/rtl_mission_fast_reverse.cpp
index 1b41c4fe16..02601391af 100644
--- a/src/modules/navigator/rtl_mission_fast_reverse.cpp
+++ b/src/modules/navigator/rtl_mission_fast_reverse.cpp
@@ -257,10 +257,13 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
 		} else if ((_work_item_type == WorkItemType::WORK_ITEM_TYPE_CLIMB ||
 			    _work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND ||
 			    _work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) {
-			_mission_item.nav_cmd = NAV_CMD_LAND;
+
+			const bool loiter_indefinitely = _param_rtl_land_delay.get() < -FLT_EPSILON;
+
 			_mission_item.lat = _home_pos_sub.get().lat;
 			_mission_item.lon = _home_pos_sub.get().lon;
 			_mission_item.yaw = NAN;
+			_mission_item.altitude_is_relative = false;
 
 			// make previous and next setpoints invalid, such that there will be no line following.
 			// If the vehicle drifted off the path during back-transition it should just go straight to the landing point.
@@ -272,14 +275,13 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
 				new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
 
 				_mission_item.altitude = _global_pos_sub.get().alt;
-				_mission_item.altitude_is_relative = false;
 				_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 				_mission_item.autocontinue = true;
 				_mission_item.time_inside = 0.0f;
 
 			} else {
-				_mission_item.altitude = _home_pos_sub.get().alt;
-				_mission_item.altitude_is_relative = false;
+				_mission_item.altitude = loiter_indefinitely ? _home_pos_sub.get().alt + _param_rtl_descend_alt.get() : _global_pos_sub.get().alt;
+				_mission_item.nav_cmd = loiter_indefinitely ? NAV_CMD_WAYPOINT : NAV_CMD_LAND;
 
 				_mission_item.land_precision = _param_rtl_pld_md.get();
 
diff --git a/src/modules/navigator/rtl_mission_fast_reverse.h b/src/modules/navigator/rtl_mission_fast_reverse.h
index a688d18a8d..8f96b95dc6 100644
--- a/src/modules/navigator/rtl_mission_fast_reverse.h
+++ b/src/modules/navigator/rtl_mission_fast_reverse.h
@@ -76,6 +76,8 @@ private:
 	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
 	DEFINE_PARAMETERS_CUSTOM_PARENT(
 		RtlBase,
-		(ParamInt<px4::params::RTL_PLD_MD>)       _param_rtl_pld_md
+		(ParamInt<px4::params::RTL_PLD_MD>)       _param_rtl_pld_md,
+		(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_rtl_descend_alt,
+		(ParamFloat<px4::params::RTL_LAND_DELAY>)  _param_rtl_land_delay
 	)
 };