From 2f3c9a1adc42cc4b2cc59dd621e71ffef9673269 Mon Sep 17 00:00:00 2001
From: Error414 <error414@error414.com>
Date: Sat, 13 Jun 2026 12:46:49 +0200
Subject: [PATCH 1/3] terrain - dedicated OSD element

---
 src/main/io/osd.c | 17 +++++++++++++++--
 src/main/io/osd.h |  1 +
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 61ebbe1f5cb..16fbd47ac2c 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -2502,7 +2502,6 @@ static bool osdDrawSingleElement(uint8_t item)
 #elif defined(USE_TERRAIN)
             range = terrainGetLastDistanceCm();
 #endif
-
             if (range < 0) {
                 buff[0] = buff[1] = buff[2] = '-';
             } else {
@@ -2511,7 +2510,21 @@ static bool osdDrawSingleElement(uint8_t item)
         }
             break;
 #endif
-
+#ifdef USE_TERRAIN
+        case OSD_TERRAIN_AGL:
+        {
+            int32_t range =  terrainGetLastDistanceCm();
+            if (range < 0) {
+                for(uint8_t i = 1; i < osdConfig()->decimals_altitude + 1; i++){
+                    buff[i] = '-';
+                }
+            } else {
+                osdFormatAltitudeSymbol(buff, range);
+            }
+            buff[0] = SYM_TERRAIN_FOLLOWING;
+            break;
+        }
+#endif
     case OSD_ONTIME:
         {
             osdFormatOnTime(buff);
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index b494dc656b3..42b9ff66cda 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -379,6 +379,7 @@ typedef enum {
     OSD_THROTTLE_GAUGE,
     OSD_GPS_EXTRA_STATS,
     OSD_AUTO_SPEED,  // 170
+    OSD_TERRAIN_AGL, // 171,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

From 749304026701aa0c8b6225a1c6750145ef4d2bac Mon Sep 17 00:00:00 2001
From: Error414 <error414@error414.com>
Date: Mon, 31 Aug 2026 17:32:22 +0200
Subject: [PATCH 2/3] Terrain new OSD el - update doc

---
 docs/Terrain.md | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/docs/Terrain.md b/docs/Terrain.md
index c997655b789..dad3c4e251f 100644
--- a/docs/Terrain.md
+++ b/docs/Terrain.md
@@ -61,10 +61,14 @@ Copying can be done via **iNav MSC (Mass Storage Class)** is not recommended.
 
 # Enabling and Displaying Terrain Data
 
-To display altitude above terrain in iNav, the OSD element **“Rangefinder distance”** must be enabled. If terrain data are
-available on the SD card and no valid data are available from a dedicated rangefinder, the value calculated by the terrain
-system will be displayed. If a rangefinder is present and providing valid data, its measurements always take priority and the
-actual distance to the ground will be shown.
+There are two OSD elements that can display altitude above terrain:
+
+- **“Terrain AGL”** — a dedicated element that shows the altitude above ground level calculated **exclusively by the terrain
+  subsystem**. Rangefinder measurements are never shown by this element. If no valid terrain value is available, dashes are
+  displayed. Use this element if you want to see the terrain-derived value regardless of whether a rangefinder is fitted.
+- **“Rangefinder distance”** — behaves as before. If a rangefinder is present and providing valid data, its measurements
+  always take priority and the actual distance to the ground is shown. Only when no valid rangefinder data are available and
+  terrain data are present on the SD card is the value calculated by the terrain system displayed instead.
 
 Loading terrain data from the SD card is enabled via the CLI using the following command:
 
@@ -82,7 +86,7 @@ display dropouts, or automatic disabling of the feature during flight. Using a q
 stability and reliability of the terrain feature.
 
 # Troubleshooting
-- OSD shows no terrain value / "Rangefinder distance" is dash:
+- OSD shows no terrain value / "Terrain AGL" or "Rangefinder distance" is dash:
   - Verify `terrain_enabled = ON` is set and saved (`set terrain_enabled = ON` → `save` → reboot)
   - Confirm the SD card is mounted: check `status` in the CLI for SD card state
   - Confirm a valid GPS fix is present before expecting any terrain value to appear

From dedb69ddff07efc04201f9568b15194de41f3d27 Mon Sep 17 00:00:00 2001
From: Error414 <error414@error414.com>
Date: Mon, 31 Aug 2026 17:51:26 +0200
Subject: [PATCH 3/3] Terrain new OSD el - update PG template version

---
 src/main/io/osd.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 16fbd47ac2c..0b3fa877322 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -233,7 +233,7 @@ static bool osdDisplayHasCanvas;
 #define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees)
 
 PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
-PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 3);
+PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 4);
 
 /* OSD formatting helpers replacing common tfp_sprintf patterns
  * for reduced code size and CPU overhead. */