diff --git a/Tools/Frame_params/3DR_Iris+_AC34.param b/Tools/Frame_params/3DR_Iris+_AC34.param
index 9af7027ca02897..0af8a1f19d92fc 100644
--- a/Tools/Frame_params/3DR_Iris+_AC34.param
+++ b/Tools/Frame_params/3DR_Iris+_AC34.param
@@ -68,7 +68,7 @@ RC_FEEL_RP,25
 RC9_FUNCTION,7
 RC9_MAX,1520
 RC9_MIN,1000
-RTL_ALT,2000
+RTL_ALTITUDE,20.00
 SERIAL2_PROTOCOL,3
 THR_DZ,50
 VEL_XY_FILT_HZ,5
diff --git a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
index 0f443af4bcabab..72370abfd7706a 100644
--- a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
@@ -113,7 +113,7 @@ RC6_MIN,1000
 RC6_TRIM,1000
 RC7_MAX,2000
 RC7_MIN,1000
-RTL_ALT,4500
+RTL_ALTITUDE,45.00
 RTL_CLIMB_MIN,1000
 RTL_SPEED,900
 SERIAL1_BAUD,921
diff --git a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
index d80e6e9001fffb..bcb2fc0a525f99 100644
--- a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
@@ -125,7 +125,7 @@ RC6_MIN,1000
 RC6_TRIM,1000
 RC7_MAX,2000
 RC7_MIN,1000
-RTL_ALT,4500
+RTL_ALTITUDE,45.00
 RTL_CLIMB_MIN,1000
 RTL_SPEED,800
 SERIAL1_BAUD,921
diff --git a/Tools/Frame_params/eLAB_LAB445_AC34.param b/Tools/Frame_params/eLAB_LAB445_AC34.param
index ed17fe6b860d85..cb4be92426eba9 100644
--- a/Tools/Frame_params/eLAB_LAB445_AC34.param
+++ b/Tools/Frame_params/eLAB_LAB445_AC34.param
@@ -36,6 +36,6 @@ MOT_THST_HOVER,0.2557016
 SERIAL1_BAUD,38
 NTF_BUZZ_ENABLE,0
 RC_FEEL_RP,35
-RTL_ALT,2000
+RTL_ALTITUDE,20.00
 VEL_XY_P,1.03
 WPNAV_RADIUS,300
diff --git a/Tools/Frame_params/eLAB_LAB470_AC35.param b/Tools/Frame_params/eLAB_LAB470_AC35.param
index fb691532fe8dac..d60d68e83b72d3 100644
--- a/Tools/Frame_params/eLAB_LAB470_AC35.param
+++ b/Tools/Frame_params/eLAB_LAB470_AC35.param
@@ -71,7 +71,7 @@ MOT_THST_HOVER,0.22
 PILOT_THR_BHV,1
 PILOT_VELZ_MAX,250
 RC_FEEL_RP,50
-RTL_ALT,2000
+RTL_ALTTUDE,20.00
 SERIAL1_BAUD,57
 SERIAL1_PROTOCOL,1
 SERIAL2_BAUD,921