diff --git a/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml b/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml
index cb51780cc684c49fe077f0a337ce9266c026e256..2cf19b336d0b4ee8b64bd3d25c2e7b59631fcb04 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml
@@ -14,46 +14,64 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact returnAltFact:    controller.getParameterFact(-1, "RTL_RETURN_ALT")
-    property Fact descendAltFact:   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
-    property Fact landDelayFact:    controller.getParameterFact(-1, "RTL_LAND_DELAY")
-    property Fact commRCLossFact:   controller.getParameterFact(-1, "COM_RC_LOSS_T")
-    property Fact lowBattAction:    controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
-    property Fact rcLossAction:     controller.getParameterFact(-1, "NAV_RCL_ACT")
-    property Fact dataLossAction:   controller.getParameterFact(-1, "NAV_DLL_ACT")
+    property Fact   returnAltFact:      controller.getParameterFact(-1, "RTL_RETURN_ALT")
+    property Fact   _descendAltFact:    controller.getParameterFact(-1, "RTL_DESCEND_ALT")
+    property Fact   landDelayFact:      controller.getParameterFact(-1, "RTL_LAND_DELAY")
+    property Fact   commRCLossFact:     controller.getParameterFact(-1, "COM_RC_LOSS_T")
+    property Fact   lowBattAction:      controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
+    property Fact   rcLossAction:       controller.getParameterFact(-1, "NAV_RCL_ACT")
+    property Fact   dataLossAction:     controller.getParameterFact(-1, "NAV_DLL_ACT")
+    property Fact   _rtlLandDelayFact:  controller.getParameterFact(-1, "RTL_LAND_DELAY")
+    property int    _rtlLandDelayValue: _rtlLandDelayFact.value
 
     Column {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("RTL min alt:")
-            valueText: returnAltFact ? returnAltFact.valueString + " " + returnAltFact.units : ""
+            labelText: qsTr("Low Battery Failsafe")
+            valueText: lowBattAction ? lowBattAction.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RTL home alt:")
-            valueText: descendAltFact ? descendAltFact.valueString + " " + descendAltFact.units : ""
+            labelText: qsTr("RC Loss Failsafe")
+            valueText: rcLossAction ? rcLossAction.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RC loss RTL:")
+            labelText: qsTr("RC Loss Timeout")
             valueText: commRCLossFact ? commRCLossFact.valueString + " " + commRCLossFact.units : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RC loss action:")
-            valueText: rcLossAction ? rcLossAction.enumStringValue : ""
+            labelText: qsTr("Data Link Loss Failsafe")
+            valueText: dataLossAction ? dataLossAction.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Link loss action:")
-            valueText: dataLossAction ? dataLossAction.enumStringValue : ""
+            labelText: qsTr("RTL Climb To")
+            valueText: returnAltFact ? returnAltFact.valueString + " " + returnAltFact.units : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Low battery action:")
-            valueText: lowBattAction ? lowBattAction.enumStringValue : ""
+            labelText: qsTr("RTL, Then")
+            valueText: _rtlLandDelayValue === 0 ?
+                           qsTr("Land immediately") :
+                           (_rtlLandDelayValue < 0 ?
+                                qsTr("Loiter and do not land") :
+                                qsTr("Loiter and land after specified time"))
+
         }
 
+        VehicleSummaryRow {
+            labelText: qsTr("Loiter Alt")
+            valueText: _descendAltFact.valueString + " " + _descendAltFact.units
+            visible:    _rtlLandDelayValue !== 0
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Land Delay")
+            valueText: _rtlLandDelayValue + " " + _rtlLandDelayFact.units
+            visible:    _rtlLandDelayValue > 0
+        }
     }
 }