diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 028efda08a..df5b8acb1f 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -356,6 +356,9 @@ static const char * const lookupTableThrottleLimitType[] = {
 static const char * const lookupTableRescueSanityType[] = {
     "RESCUE_SANITY_OFF", "RESCUE_SANITY_ON", "RESCUE_SANITY_FS_ONLY"
 };
+static const char * const lookupTableRescueAltitudeMode[] = {
+    "MAX_ALT", "FIXED_ALT", "CURRENT_ALT"
+};
 #endif
 
 #ifdef USE_MAX7456
@@ -472,6 +475,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableGPSSBASMode),
 #ifdef USE_GPS_RESCUE
     LOOKUP_TABLE_ENTRY(lookupTableRescueSanityType),
+    LOOKUP_TABLE_ENTRY(lookupTableRescueAltitudeMode),
 #endif
 #endif
 #ifdef USE_BLACKBOX
@@ -904,11 +908,11 @@ const clivalue_t valueTable[] = {
     { "gps_rescue_throttle_min",    VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMin) },
     { "gps_rescue_throttle_max",    VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMax) },
     { "gps_rescue_throttle_hover",  VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleHover) },
-    { "gps_rescue_sanity_checks",   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
+    { "gps_rescue_sanity_checks",   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_SANITY_CHECK }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
     { "gps_rescue_min_sats",        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minSats) },
     { "gps_rescue_min_dth",         VAR_UINT16  | MASTER_VALUE, .config.minmaxUnsigned = { 50, 1000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
     { "gps_rescue_allow_arming_without_fix", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowArmingWithoutFix) },
-    { "gps_rescue_climb_to_max_reached_alt", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowClimbToMaxReachedAlt) },
+    { "gps_rescue_alt_mode",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_ALT_MODE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, altitudeMode) },
 #ifdef USE_MAG
     { "gps_rescue_use_mag",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, useMag) },
 #endif
diff --git a/src/main/cli/settings.h b/src/main/cli/settings.h
index b6e51671c4..8c34482a3a 100644
--- a/src/main/cli/settings.h
+++ b/src/main/cli/settings.h
@@ -34,7 +34,8 @@ typedef enum {
     TABLE_GPS_SBAS_MODE,
 #endif
 #ifdef USE_GPS_RESCUE
-    TABLE_GPS_RESCUE,
+    TABLE_GPS_RESCUE_SANITY_CHECK,
+    TABLE_GPS_RESCUE_ALT_MODE,
 #endif
 #ifdef USE_BLACKBOX
     TABLE_BLACKBOX_DEVICE,
diff --git a/src/main/flight/gps_rescue.c b/src/main/flight/gps_rescue.c
index 0ca3befa90..0faadc6b47 100644
--- a/src/main/flight/gps_rescue.c
+++ b/src/main/flight/gps_rescue.c
@@ -116,6 +116,12 @@ typedef struct {
     bool isAvailable;
 } rescueState_s;
 
+typedef enum {
+    MAX_ALT,
+    FIXED_ALT,
+    CURRENT_ALT
+} altitudeMode_e;
+
 #define GPS_RESCUE_MAX_YAW_RATE         180 // deg/sec max yaw rate
 #define GPS_RESCUE_RATE_SCALE_DEGREES    45 // Scale the commanded yaw rate when the error is less then this angle
 #define GPS_RESCUE_SLOWDOWN_DISTANCE_M  200 // distance from home to start decreasing speed
@@ -150,7 +156,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
     .useMag = GPS_RESCUE_USE_MAG,
     .targetLandingAltitudeM = 5,
     .targetLandingDistanceM = 10,
-    .allowClimbToMaxReachedAlt = true,
+    .altitudeMode = MAX_ALT,
 );
 
 static uint16_t rescueThrottle;
@@ -166,6 +172,7 @@ bool          magForceDisable = false;
 static bool newGPSData = false;
 
 rescueState_s rescueState;
+altitudeMode_e altitudeMode;
 
 /*
  If we have new GPS data, update home heading
@@ -538,10 +545,16 @@ void updateGPSRescueState(void)
             newDescentDistanceM = gpsRescueConfig()->descentDistanceM;
         }
         
-        if (gpsRescueConfig()->allowClimbToMaxReachedAlt) {
-            newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
-        } else {
-            newAltitude = gpsRescueConfig()->initialAltitudeM * 100;
+        switch (altitudeMode) {
+            case MAX_ALT:
+                newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
+                break;
+            case FIXED_ALT:
+                newAltitude = gpsRescueConfig()->initialAltitudeM * 100;
+                break;
+            case CURRENT_ALT:
+                newAltitude = rescueState.sensor.currentAltitudeCm;
+                break;
         }
 
         //Calculate angular coefficient and offset for equation of line from 2 points needed for RESCUE_LANDING_APPROACH
diff --git a/src/main/flight/gps_rescue.h b/src/main/flight/gps_rescue.h
index bb80d4be7e..f50149a348 100644
--- a/src/main/flight/gps_rescue.h
+++ b/src/main/flight/gps_rescue.h
@@ -39,7 +39,7 @@ typedef struct gpsRescue_s {
     uint8_t useMag;
     uint16_t targetLandingAltitudeM; //meters
     uint16_t targetLandingDistanceM; //meters
-    uint8_t allowClimbToMaxReachedAlt;
+    uint8_t altitudeMode;
 } gpsRescueConfig_t;
 
 PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);