diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 484529944a..9845bde147 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -243,18 +243,18 @@ static int8_t loiterDirection(void) {
 
     if (pidProfile()->loiter_direction == NAV_LOITER_YAW) {
 
-        if (rcCommand[YAW] < -250) { 
+        if (rcCommand[YAW] < -250) {
             loiterDirYaw = 1; //RIGHT //yaw is contrariwise
         }
 
-        if (rcCommand[YAW] > 250) { 
+        if (rcCommand[YAW] > 250) {
             loiterDirYaw = -1; //LEFT  //see annexCode in fc_core.c
         }
 
         dir = loiterDirYaw;
     }
 
-    if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) { 
+    if (IS_RC_MODE_ACTIVE(BOXLOITERDIRCHN)) {
         dir *= -1;
     }
 
@@ -612,13 +612,21 @@ bool isFixedWingLandingDetected(void)
 /*-----------------------------------------------------------
  * FixedWing emergency landing
  *-----------------------------------------------------------*/
-void applyFixedWingEmergencyLandingController(void)
+void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
 {
-    // FIXME: Use altitude controller if available (similar to MC code)
     rcCommand[ROLL] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_roll_angle, pidProfile()->max_angle_inclination[FD_ROLL]);
-    rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
     rcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->stabilized.rates[FD_YAW]);
     rcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
+
+    if (posControl.flags.estAltStatus >= EST_USABLE) {
+        updateClimbRateToAltitudeController(-1.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_NORMAL);
+        applyFixedWingAltitudeAndThrottleController(currentTimeUs);
+
+        int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
+        rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
+    } else {
+        rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
+    }
 }
 
 /*-----------------------------------------------------------
@@ -641,7 +649,7 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
         applyFixedWingLaunchController(currentTimeUs);
     }
     else if (navStateFlags & NAV_CTL_EMERG) {
-        applyFixedWingEmergencyLandingController();
+        applyFixedWingEmergencyLandingController(currentTimeUs);
     }
     else {
 #ifdef NAV_FW_LIMIT_MIN_FLY_VELOCITY