diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index 400be3f70b..94c9ae75a8 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -50,5 +50,6 @@ typedef enum {
     DEBUG_NOTCH,
     DEBUG_NAV_LANDING_DETECTOR,
     DEBUG_FW_CLIMB_RATE_TO_ALTITUDE,
+    DEBUG_RANGEFINDER,
     DEBUG_COUNT
 } debugType_e;
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index fa03625fdc..2b67f77cdc 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -327,7 +327,8 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "GYRO",
     "NOTCH",
     "NAV_LANDING",
-    "FW_ALTITUDE"
+    "FW_ALTITUDE",
+    "RANGEFINDER"
 };
 
 #ifdef TELEMETRY_LTM
diff --git a/src/main/sensors/rangefinder.c b/src/main/sensors/rangefinder.c
index 5ad33522cc..b7f828cc61 100644
--- a/src/main/sensors/rangefinder.c
+++ b/src/main/sensors/rangefinder.c
@@ -48,6 +48,8 @@
 
 #include "scheduler/scheduler.h"
 
+#include "build/debug.h"
+
 rangefinder_t rangefinder;
 
 #define RANGEFINDER_HARDWARE_TIMEOUT_MS         500     // Accept 500ms of non-responsive sensor, report HW failure otherwise
@@ -182,6 +184,9 @@ int32_t rangefinderRead(void)
 {
     if (rangefinder.dev.read) {
         const int32_t distance = rangefinder.dev.read();
+
+        DEBUG_SET(DEBUG_RANGEFINDER, 0, distance);
+
         if (distance >= 0) {
             rangefinder.lastValidResponseTimeMs = millis();
             rangefinder.rawAltitude = applyMedianFilter(distance);
@@ -200,6 +205,8 @@ int32_t rangefinderRead(void)
         rangefinder.rawAltitude = RANGEFINDER_OUT_OF_RANGE;
     }
 
+    DEBUG_SET(DEBUG_RANGEFINDER, 1, rangefinder.rawAltitude);
+
     return rangefinder.rawAltitude;
 }
 
@@ -217,6 +224,7 @@ int32_t rangefinderCalculateAltitude(int32_t rangefinderDistance, float cosTiltA
     } else {
         rangefinder.calculatedAltitude = rangefinderDistance * cosTiltAngle;
     }
+    DEBUG_SET(DEBUG_RANGEFINDER, 2, rangefinder.calculatedAltitude);
     return rangefinder.calculatedAltitude;
 }