diff --git a/src/main/flight/gps_rescue.c b/src/main/flight/gps_rescue.c
index 73d810df9e..39dc07e866 100644
--- a/src/main/flight/gps_rescue.c
+++ b/src/main/flight/gps_rescue.c
@@ -194,17 +194,19 @@ static void setReturnAltitude(void)
         // Intended descent distance for rescues that start outside the minStartDistM distance
         // Set this to the user's intended descent distance, but not more than half the distance to home to ensure some fly home time
         rescueState.intent.descentDistanceM = fminf(0.5f * rescueState.sensor.distanceToHomeM, gpsRescueConfig()->descentDistanceM);
- 
+
+        const float initialClimbCm = gpsRescueConfig()->initialClimbM * 100.0f;
         switch (gpsRescueConfig()->altitudeMode) {
             case GPS_RESCUE_ALT_MODE_FIXED:
                 rescueState.intent.returnAltitudeCm = gpsRescueConfig()->returnAltitudeM * 100.0f;
                 break;
             case GPS_RESCUE_ALT_MODE_CURRENT:
-                rescueState.intent.returnAltitudeCm = rescueState.sensor.currentAltitudeCm + gpsRescueConfig()->initialClimbM * 100.0f;
+                // climb above current altitude, but always return at least initial height above takeoff point, in case current altitude was negative
+                rescueState.intent.returnAltitudeCm = fmaxf(initialClimbCm, rescueState.sensor.currentAltitudeCm + initialClimbCm);
                 break;
             case GPS_RESCUE_ALT_MODE_MAX:
             default:
-                rescueState.intent.returnAltitudeCm = rescueState.intent.maxAltitudeCm + gpsRescueConfig()->initialClimbM * 100.0f;
+                rescueState.intent.returnAltitudeCm = rescueState.intent.maxAltitudeCm + initialClimbCm;
                 break;
         }
     }