diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index d8916f6d56..e8f47543eb 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -82,5 +82,6 @@ typedef enum {
     DEBUG_DYNAMIC_GYRO_LPF,
     DEBUG_FW_D,
     DEBUG_IMU2,
+    DEBUG_ALTITUDE,
     DEBUG_COUNT
 } debugType_e;
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 264a1abfcb..7caae71960 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -87,7 +87,7 @@ tables:
       "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
-      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2"]
+      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator
diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
index f62de049ce..700909aaa4 100755
--- a/src/main/navigation/navigation_pos_estimator.c
+++ b/src/main/navigation/navigation_pos_estimator.c
@@ -612,6 +612,15 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
         return true;
     }
 
+    DEBUG_SET(DEBUG_ALTITUDE, 0, posEstimator.est.pos.z);       // Position estimate
+    DEBUG_SET(DEBUG_ALTITUDE, 2, posEstimator.baro.alt);        // Baro altitude
+    DEBUG_SET(DEBUG_ALTITUDE, 4, posEstimator.gps.pos.z);       // GPS altitude
+    DEBUG_SET(DEBUG_ALTITUDE, 6, accGetVibrationLevel());       // Vibration level
+    DEBUG_SET(DEBUG_ALTITUDE, 1, posEstimator.est.vel.z);       // Vertical speed estimate
+    DEBUG_SET(DEBUG_ALTITUDE, 3, posEstimator.imu.accelNEU.z);  // Vertical acceleration on earth frame
+    DEBUG_SET(DEBUG_ALTITUDE, 5, posEstimator.gps.vel.z);       // GPS vertical speed
+    DEBUG_SET(DEBUG_ALTITUDE, 7, accGetClipCount());            // Clip count
+
     return false;
 }