diff --git a/flight/Modules/PathPlanner/pathplanner.c b/flight/Modules/PathPlanner/pathplanner.c
index c8de75d01..2b9f3022b 100644
--- a/flight/Modules/PathPlanner/pathplanner.c
+++ b/flight/Modules/PathPlanner/pathplanner.c
@@ -128,6 +128,14 @@ static void pathPlannerTask(void *parameters)
 				positionDesired.East = waypoint.Position[WAYPOINT_POSITION_EAST];
 				positionDesired.Down = waypoint.Position[WAYPOINT_POSITION_DOWN];
 				PositionDesiredSet(&positionDesired);
+			} else if (waypointAction == WAYPOINT_ACTION_RTH) {
+				// Fly back to the home location but 20 m above it
+				PositionDesiredData positionDesired;
+				PositionDesiredGet(&positionDesired);
+				positionDesired.North = 0;
+				positionDesired.East = 0;
+				positionDesired.Down = -20;
+				PositionDesiredSet(&positionDesired);
 			}
 		}
 		vTaskDelay(10);
diff --git a/shared/uavobjectdefinition/waypoint.xml b/shared/uavobjectdefinition/waypoint.xml
index 270a85aba..598fe0f67 100644
--- a/shared/uavobjectdefinition/waypoint.xml
+++ b/shared/uavobjectdefinition/waypoint.xml
@@ -4,7 +4,7 @@
         <field name="Position" units="m" type="float" elementnames="North, East, Down"/>
 	<field name="Velocity" units="m/s" type="float" elementnames="North, East, Down"/>
 	<field name="YawDesired" units="deg" type="float" elements="1"/>
-	<field name="Action" units="" type="enum" elements="1" options="Next,RTH,Loiter10s"/>
+	<field name="Action" units="" type="enum" elements="1" options="Next,RTH,Loiter10s,Land"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="onchange" period="0"/>