diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
index ce9ca8818d..4fd04e14c4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
@@ -21,7 +21,6 @@ then
 	param set MPC_XY_VEL_P_ACC 3
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
index bbd85717e3..0ae40a2248 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
@@ -21,7 +21,6 @@ then
 	param set MPC_XY_VEL_P_ACC 3
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index 585007dc85..2c515ef6ff 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -55,7 +55,6 @@ then
 	param set NAV_LOITER_RAD 80
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 
 	param set SDLOG_DIRS_MAX 7
diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
index 249ee64f4d..243b11c107 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@@ -42,7 +42,6 @@ then
 	param set PWM_RATE 400
 
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
index 61a21a8280..d4eaf2a540 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -112,7 +112,6 @@ then
 
 	# RTL Parameters
 	param set RTL_DESCEND_ALT 5
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 5
 	param set RTL_CONE_ANG 45
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 164a3239b9..362cf60c05 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -13,7 +13,6 @@ then
 
 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 
 	param set PWM_MAX 1950
 	param set PWM_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 280e8c8532..9517b77a24 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -33,7 +33,6 @@ then
 	param set PWM_AUX_RATE 50
 	param set PWM_RATE 400
 
-	param set RTL_LAND_DELAY 0
 	param set RTL_TYPE 1
 
 	param set WV_EN 1
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
index f77b11c85d..3c56c41f94 100644
--- a/src/modules/navigator/rtl_params.c
+++ b/src/modules/navigator/rtl_params.c
@@ -87,7 +87,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
  * @increment 0.5
  * @group Return Mode
  */
-PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
+PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, 0.0f);
 
 /**
  * Horizontal radius from return point within which special rules for return mode apply.