diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 10adea58e8..0566aba124 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -856,7 +856,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
 
     // If we have valid pos sensor OR we are configured to ignore GPS loss
     if (posControl.flags.hasValidPositionSensor || !checkForPositionSensorTimeout() || navConfig()->general.flags.rth_climb_ignore_emerg) {
-        if (((posControl.actualState.pos.V.Z - posControl.homeWaypointAbove.pos.V.Z) > -50.0f) || (!navConfig()->general.flags.rth_climb_first)) {
+        const float rthAltitudeMargin = STATE(FIXED_WING) ?
+                            MIN(100.0f, 0.10f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z)) :  // Airplane: 10% of target altitude but no less than 1m
+                            MIN( 50.0f, 0.05f * ABS(posControl.homeWaypointAbove.pos.V.Z - posControl.homePosition.pos.V.Z));   // Copters:   5% of target altitude but no less than 50cm
+
+        if (((posControl.actualState.pos.V.Z - posControl.homeWaypointAbove.pos.V.Z) > -rthAltitudeMargin) || (!navConfig()->general.flags.rth_climb_first)) {
             // Delayed initialization for RTH sanity check on airplanes - allow to finish climb first as it can take some distance
             if (STATE(FIXED_WING)) {
                 initializeRTHSanityChecker(&posControl.actualState.pos);