diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 602de21729..7afb079448 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -1084,9 +1084,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_ADJUSTING(nav
 
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState)
 {
+    //AWH xxxxxxxxxxxxxxxxxxxxx
+    RTHAltHoldOverRideFlag = false;
+    //xxxxxxxxxxxxxxxxxxxxx
+
     navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
-    
-    posControl.flags.CanOverRideRTHAlt = false;   //prevent unwanted override if AltHold selected at RTH initialize
 
     if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) {
         // Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
@@ -1150,29 +1152,22 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
     }
 }
 
-static void OverRideRTHAtitudePreset(void)
-{
-    if (!navConfig()->general.flags.rth_alt_control_override) {
-        return;
-    }
-
-    if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
-        posControl.flags.CanOverRideRTHAlt = true;        
-    }
-    else {
-        if (posControl.flags.CanOverRideRTHAlt && !posControl.flags.forcedRTHActivated) {          
-            posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;                        
-            posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;            
-            posControl.flags.CanOverRideRTHAlt = false;
-        }
-    }
-}
-
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState)
 {
+    //AWH xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx    
+    if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
+        RTHAltHoldOverRideFlag = true;
+    }
+    else {
+        if (RTHAltHoldOverRideFlag && !posControl.flags.forcedRTHActivated) {
+            posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;
+            posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;
+            RTHAltHoldOverRideFlag = false;
+        }
+    }
+    //xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
+
     UNUSED(previousState);
-    
-    OverRideRTHAtitudePreset();
 
     if ((posControl.flags.estHeadingStatus == EST_NONE)) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
@@ -1247,8 +1242,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
-    
-    OverRideRTHAtitudePreset();
 
     if ((posControl.flags.estHeadingStatus == EST_NONE)) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;