diff --git a/src/modules/navigator/rtl_params.yaml b/src/modules/navigator/rtl_params.yaml
index b1100dc1bcf8..766d8c7f76d6 100644
--- a/src/modules/navigator/rtl_params.yaml
+++ b/src/modules/navigator/rtl_params.yaml
@@ -57,31 +57,55 @@ parameters:
     RTL_TYPE:
       description:
         short: Return type
-        long: Return mode destination and flight path (home location, rally point,
-          mission landing pattern, reverse mission)
-      type: enum
-      values:
-        0: Return to closest safe point (home or rally point) via direct path.
-        1: Return to closest safe point other than home (mission landing pattern or
-          rally point), via direct path. If no mission landing or rally points are
-          defined return home via direct path. Always choose closest safe landing
+        long: >-
+          Return mode destination and flight path (home location, rally point, mission landing
+          pattern, reverse mission)
+
+
+          - 0 (Direct to home or rally point): Return to closest safe point (home or rally point)
+          via direct path.
+
+
+          - 1 (Direct to mission landing or rally point): Return to closest safe point other than
+          home (mission landing pattern or rally point), via direct path. If no mission landing or
+          rally points are defined return home via direct path. Always choose closest safe landing
           point if vehicle is a VTOL in hover mode.
-        2: Return to a planned mission landing, if available, using the mission
-          path while skipping DO_JUMP and other non-position mission items, else
-          return to home via the reverse mission path with the same traversal
-          rules. Do not consider rally points.
-        3: 'Return via direct path to closest destination: home, start of mission
-          landing pattern or safe point. If the destination is a mission landing pattern,
-          follow the pattern to land.'
-        4: Return to the planned mission landing, or to home via the reverse mission
-          path, whichever is estimated to be closer using mission item indices.
-          Skip DO_JUMP and other non-position mission items while following either
+
+
+          - 2 (Mission path to landing, else reverse home): Return to a planned mission landing, if
+          available, using the mission path while skipping DO_JUMP and other non-position mission
+          items, else return to home via the reverse mission path with the same traversal rules. Do
+          not consider rally points.
+
+
+          - 3 (Direct to closest safe destination): Return via direct path to closest destination:
+          home, start of mission landing pattern or safe point. If the destination is a mission
+          landing pattern, follow the pattern to land.
+
+
+          - 4 (Mission path, closest of landing or home): Return to the planned mission landing, or
+          to home via the reverse mission path, whichever is estimated to be closer using mission
+          item indices. Skip DO_JUMP and other non-position mission items while following either
           mission path. Do not consider rally points.
-        5: Return directly to safe landing point (do not consider mission landing
-          and Home).
-        6: Return to home if time estimate to home is less than battery remaining estimate,
-          else return to the closest rally point. If battery remaining estimate is not available,
-          return to the closest safe point (home or rally point).
+
+
+          - 5 (Direct to rally point only): Return directly to safe landing point (do not consider
+          mission landing and Home).
+
+
+          - 6 (Home if battery allows, else rally point): Return to home if time estimate to home is
+          less than battery remaining estimate, else return to the closest rally point. If battery
+          remaining estimate is not available, return to the closest safe point (home or rally
+          point).
+      type: enum
+      values:
+        0: Direct to home or rally point
+        1: Direct to mission landing or rally point
+        2: Mission path to landing, else reverse home
+        3: Direct to closest safe destination
+        4: Mission path, closest of landing or home
+        5: Direct to rally point only
+        6: Home if battery allows, else rally point
       default: 0
     RTL_CONE_ANG:
       description: