diff --git a/README.md b/README.md
index e995cf7e9..d7c4efb33 100644
--- a/README.md
+++ b/README.md
@@ -29,6 +29,7 @@ GCS project uses [APX Shared Library](https://github.com/uavos/apx-lib) submodul
 - [GStreamer](https://gstreamer.freedesktop.org) - used for video streaming by some plugins;
 - [SDL2](https://www.libsdl.org) - used for joystick interface by some plugins;
 - [Sparkle](https://sparkle-project.org/) - required for mac auto updates;
+- [GDAL](https://gdal.org) - required for elevation map files processing;
 - [AppImageUpdate](https://github.com/AppImage/AppImageUpdate) - required for linux build, see installation in [Dockerfile](https://github.com/uavos/apx-gcs/blob/main/Dockerfile);
 
 ### CMAKE build
diff --git a/src/Plugins/MapView/CMakeLists.txt b/src/Plugins/MapView/CMakeLists.txt
index 435b1f8c0..576125f64 100644
--- a/src/Plugins/MapView/CMakeLists.txt
+++ b/src/Plugins/MapView/CMakeLists.txt
@@ -2,3 +2,4 @@ add_subdirectory("Location")
 add_subdirectory("MissionPlanner")
 add_subdirectory("Sites")
 add_subdirectory("KmlOverlay")
+add_subdirectory("ElevationMap")
diff --git a/src/Plugins/MapView/ElevationMap/CMakeLists.txt b/src/Plugins/MapView/ElevationMap/CMakeLists.txt
new file mode 100644
index 000000000..ab98da75e
--- /dev/null
+++ b/src/Plugins/MapView/ElevationMap/CMakeLists.txt
@@ -0,0 +1,18 @@
+apx_plugin(QML_NO_PREFIX DEPENDS lib.ApxGcs QT Location Positioning)
+
+if(APPLE)
+    find_package(GDAL CONFIG)
+    if(NOT GDAL_FOUND)
+        find_package(GDAL REQUIRED)
+    endif()
+    target_link_libraries(${MODULE} PRIVATE GDAL::GDAL)
+elseif(UNIX AND NOT APPLE)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(GDAL REQUIRED gdal)
+    target_include_directories(${MODULE} PRIVATE ${GDAL_INCLUDE_DIRS})
+    target_link_directories(${MODULE} PRIVATE ${GDAL_LIBRARY_DIRS})
+    target_link_libraries(${MODULE} PRIVATE ${GDAL_LIBRARIES})
+
+elseif(WIN32)
+    message(WARNING "Not implemented")
+endif()
diff --git a/src/Plugins/MapView/ElevationMap/ElevationDB.cpp b/src/Plugins/MapView/ElevationMap/ElevationDB.cpp
new file mode 100644
index 000000000..f4ac5002a
--- /dev/null
+++ b/src/Plugins/MapView/ElevationMap/ElevationDB.cpp
@@ -0,0 +1,261 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "ElevationDB.h"
+#include <App/AppLog.h>
+
+#include <QFile>
+
+#include "cpl_minixml.h"
+#include "cpl_string.h"
+#include "gdal.h"
+#include "gdal_version.h"
+#include "ogr_spatialref.h"
+#include <cmath>
+#include <vector>
+
+OfflineElevationDB::OfflineElevationDB(QString &path)
+    : m_dbPath(path)
+{}
+
+double OfflineElevationDB::getElevationASTER(double latitude, double longitude)
+{
+    double elevation{NAN};
+    auto fileName = createASTERFileName(latitude, longitude);
+    if (!QFile::exists(fileName)) {
+        return elevation;
+    }
+
+    elevation = getElevationFromGeoFile(fileName, latitude, longitude);
+    return elevation;
+}
+
+QString OfflineElevationDB::createASTERFileName(double latitude, double longitude)
+{
+    int lat = fabs(static_cast<int>(latitude));
+    int lon = fabs(static_cast<int>(longitude));
+    auto fileName = QString("ASTGTMV003_%1%2%3%4_dem.tif")
+                        .arg((latitude >= 0) ? 'N' : 'S')
+                        .arg((latitude >= 0 ? lat : ++lat), 2, 10, QChar('0'))
+                        .arg((longitude >= 0) ? 'E' : 'W')
+                        .arg((longitude >= 0 ? lon : ++lon), 3, 10, QChar('0'));
+
+    auto path = QString("%1/%2").arg(m_dbPath).arg(fileName);
+    return path;
+}
+
+double OfflineElevationDB::getElevation(double latitude, double longitude)
+{
+    return getElevationASTER(latitude, longitude);
+}
+
+double OfflineElevationDB::getElevationFromGeoFile(QString fileName,
+                                                   double latitude,
+                                                   double longitude)
+{
+    char *srcSRS = nullptr;
+    std::vector<int> anBandList;
+    double elevation{NAN};
+    int nOverview = -1;
+
+    GDALAllRegister();
+    CPLFree(srcSRS);
+    srcSRS = SanitizeSRS("WGS84");
+
+    if (!srcSRS)
+        return NAN;
+
+    auto src = fileName.toStdString();
+    auto srcFilename = src.c_str();
+
+    // Open source file
+    GDALDatasetH hSrcDS = GDALOpenEx(srcFilename,
+                                     GDAL_OF_RASTER | GDAL_OF_VERBOSE_ERROR,
+                                     nullptr,
+                                     nullptr,
+                                     nullptr);
+
+    if (hSrcDS == nullptr)
+        return NAN;
+
+    // Setup coordinate transformation, if required
+    OGRSpatialReferenceH hSrcSRS = nullptr;
+    OGRCoordinateTransformationH hCT = nullptr;
+    if (srcSRS != nullptr && !EQUAL(srcSRS, "-geoloc")) {
+        hSrcSRS = OSRNewSpatialReference(srcSRS);
+        OSRSetAxisMappingStrategy(hSrcSRS, OAMS_TRADITIONAL_GIS_ORDER);
+        auto hTrgSRS = GDALGetSpatialRef(hSrcDS);
+        if (!hTrgSRS)
+            return NAN;
+
+        hCT = OCTNewCoordinateTransformation(hSrcSRS, hTrgSRS);
+        if (hCT == nullptr)
+            return NAN;
+    }
+
+    // If no bands were requested, we will query them all
+    if (anBandList.empty()) {
+        for (int i = 0; i < GDALGetRasterCount(hSrcDS); i++)
+            anBandList.push_back(i + 1);
+    }
+
+    // Turn the location into a pixel and line location.
+    bool inputAvailable = true;
+    double dfGeoX = longitude;
+    double dfGeoY = latitude;
+
+    while (inputAvailable) {
+        int iPixel;
+        int iLine;
+
+        if (hCT) {
+            if (!OCTTransform(hCT, 1, &dfGeoX, &dfGeoY, nullptr))
+                return NAN;
+        }
+
+        if (srcSRS != nullptr) {
+            double adfGeoTransform[6] = {};
+            if (GDALGetGeoTransform(hSrcDS, adfGeoTransform) != CE_None) {
+                apxMsgW() << tr("Error %1. Cannot get geotransform.").arg(CPLE_AppDefined);
+                return NAN;
+            }
+
+            double adfInvGeoTransform[6] = {};
+            if (!GDALInvGeoTransform(adfGeoTransform, adfInvGeoTransform)) {
+                apxMsgW() << tr("Error %1. Cannot invert geotransform.").arg(CPLE_AppDefined);
+                return NAN;
+            }
+
+            iPixel = static_cast<int>(floor(adfInvGeoTransform[0] + adfInvGeoTransform[1] * dfGeoX
+                                            + adfInvGeoTransform[2] * dfGeoY));
+            iLine = static_cast<int>(floor(adfInvGeoTransform[3] + adfInvGeoTransform[4] * dfGeoX
+                                           + adfInvGeoTransform[5] * dfGeoY));
+        } else {
+            iPixel = static_cast<int>(floor(dfGeoX));
+            iLine = static_cast<int>(floor(dfGeoY));
+        }
+
+        CPLString osLine;
+        bool bPixelReport = true;
+
+        if (iPixel < 0 || iLine < 0 || iPixel >= GDALGetRasterXSize(hSrcDS)
+            || iLine >= GDALGetRasterYSize(hSrcDS)) {
+            apxMsgW() << tr("Location is off this file! No further details to report.");
+            bPixelReport = false;
+        }
+
+        // Process each band
+        for (int i = 0; bPixelReport && i < static_cast<int>(anBandList.size()); i++) {
+            GDALRasterBandH hBand = GDALGetRasterBand(hSrcDS, anBandList[i]);
+            int iPixelToQuery = iPixel;
+            int iLineToQuery = iLine;
+
+            if (nOverview >= 0 && hBand != nullptr) {
+                GDALRasterBandH hOvrBand = GDALGetOverview(hBand, nOverview);
+                if (hOvrBand != nullptr) {
+                    auto nOvrXSize = GDALGetRasterBandXSize(hOvrBand);
+                    auto nOvrYSize = GDALGetRasterBandYSize(hOvrBand);
+                    iPixelToQuery = static_cast<int>(
+                        0.5 + 1.0 * iPixel / GDALGetRasterXSize(hSrcDS) * nOvrXSize);
+                    iLineToQuery = static_cast<int>(
+                        0.5 + 1.0 * iLine / GDALGetRasterYSize(hSrcDS) * nOvrYSize);
+                    if (iPixelToQuery >= nOvrXSize)
+                        iPixelToQuery = nOvrXSize - 1;
+                    if (iLineToQuery >= nOvrYSize)
+                        iLineToQuery = nOvrYSize - 1;
+                } else {
+                    apxMsgW() << tr("Error %1. Cannot get overview %2 of band %3")
+                                     .arg(CPLE_AppDefined)
+                                     .arg(nOverview + 1)
+                                     .arg(anBandList[i]);
+                }
+                hBand = hOvrBand;
+            }
+
+            if (hBand == nullptr)
+                continue;
+
+            double adfPixel[2] = {0, 0};
+            const bool bIsComplex = CPL_TO_BOOL(GDALDataTypeIsComplex(GDALGetRasterDataType(hBand)));
+
+            if (GDALRasterIO(hBand,
+                             GF_Read,
+                             iPixelToQuery,
+                             iLineToQuery,
+                             1,
+                             1,
+                             adfPixel,
+                             1,
+                             1,
+                             bIsComplex ? GDT_CFloat64 : GDT_Float64,
+                             0,
+                             0)
+                == CE_None) {
+                CPLString osValue;
+
+                if (bIsComplex)
+                    osValue.Printf("%.15g+%.15gi", adfPixel[0], adfPixel[1]);
+                else
+                    osValue.Printf("%.15g", adfPixel[0]);
+
+                elevation = std::stod(osValue.c_str());
+            }
+        }
+
+        if ((latitude != NAN && longitude != NAN)
+            || (fscanf(stdin, "%lf %lf", &dfGeoX, &dfGeoY) != 2)) {
+            inputAvailable = false;
+        }
+    }
+
+    // Cleanup
+    if (hCT) {
+        OSRDestroySpatialReference(hSrcSRS);
+        OCTDestroyCoordinateTransformation(hCT);
+    }
+
+    GDALClose(hSrcDS);
+    GDALDumpOpenDatasets(stderr);
+    GDALDestroyDriverManager();
+    CPLFree(srcSRS);
+
+    return elevation;
+}
+
+char *OfflineElevationDB::SanitizeSRS(const char *userInput)
+{
+    OGRSpatialReferenceH hSRS = OSRNewSpatialReference(nullptr);
+    char *result = nullptr;
+
+    if (OSRSetFromUserInput(hSRS, userInput) == OGRERR_NONE)
+        OSRExportToWkt(hSRS, &result);
+    else {
+        apxMsgW() << tr("Error %1. Translating source or target SRS failed: %2")
+                         .arg(CPLE_AppDefined)
+                         .arg(userInput);
+        return nullptr;
+    }
+
+    OSRDestroySpatialReference(hSRS);
+
+    return result;
+}
diff --git a/src/Plugins/MapView/ElevationMap/ElevationDB.h b/src/Plugins/MapView/ElevationMap/ElevationDB.h
new file mode 100644
index 000000000..2fd8f626b
--- /dev/null
+++ b/src/Plugins/MapView/ElevationMap/ElevationDB.h
@@ -0,0 +1,52 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <QString>
+#include <QtCore>
+
+class AbstractElevationDB : public QObject
+{
+    Q_OBJECT
+
+public:
+    AbstractElevationDB() = default;
+    virtual double getElevation(double latitude, double longitude) = 0;
+};
+
+class OfflineElevationDB : public AbstractElevationDB
+{
+    Q_OBJECT
+
+public:
+    OfflineElevationDB(QString &path);
+    double getElevation(double latitude, double longitude) override;
+    double getElevationASTER(double latitude,
+                             double longitude); // Return NaN if the elevation is undefined
+
+private:
+    QString m_dbPath;
+
+    QString createASTERFileName(double latitude, double longitude);
+    double getElevationFromGeoFile(QString fileName, double latitude, double longitude);
+    char *SanitizeSRS(const char *userInput);
+};
diff --git a/src/Plugins/MapView/ElevationMap/ElevationMap.cpp b/src/Plugins/MapView/ElevationMap/ElevationMap.cpp
new file mode 100644
index 000000000..ad16f51d5
--- /dev/null
+++ b/src/Plugins/MapView/ElevationMap/ElevationMap.cpp
@@ -0,0 +1,77 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "ElevationMap.h"
+#include <App/App.h>
+
+ElevationMap::ElevationMap(Fact *parent)
+    : Fact(parent,
+           QString(PLUGIN_NAME).toLower(),
+           tr("Elevation Map"),
+           tr("Terrain elevation map"),
+           Group | FlatModel,
+           "elevation-rise")
+{
+    m_elevation = qQNaN();
+    auto path = AppDirs::db().absolutePath() + "/Elevation";
+
+    f_use = new Fact(this, "use", tr("Use elevation map"), "", Fact::Bool, "check");
+    f_use->setValue(true);
+
+    f_path = new Fact(this, "open", tr("Path"), tr("Elevation files path"), Text, "import");
+    f_path->setValue(path);
+    connect(f_path, &Fact::valueChanged, this, &ElevationMap::createElevationDatabase);
+
+    createElevationDatabase();
+    //  qml = loadQml("qrc:/ElevationPlugin.qml");
+}
+
+double ElevationMap::elevation() const
+{
+    return m_elevation;
+}
+
+void ElevationMap::setElevation(double v)
+{
+    if (m_elevation == v)
+        return;
+
+    m_elevation = v;
+    emit elevationChanged();
+}
+
+void ElevationMap::setElevationByCoordinate(const QGeoCoordinate &v)
+{
+    auto elevation = m_elevationDB->getElevation(v.latitude(), v.longitude());
+    setElevation(elevation);
+}
+
+double ElevationMap::getElevationByCoordinate(const QGeoCoordinate &v)
+{
+    return m_elevationDB->getElevation(v.latitude(), v.longitude());
+}
+
+void ElevationMap::createElevationDatabase()
+{
+    auto path = f_path->value().toString();
+    m_elevationDB = std::make_shared<OfflineElevationDB>(path);
+}
diff --git a/src/Plugins/MapView/ElevationMap/ElevationMap.h b/src/Plugins/MapView/ElevationMap/ElevationMap.h
new file mode 100644
index 000000000..6b5d9102f
--- /dev/null
+++ b/src/Plugins/MapView/ElevationMap/ElevationMap.h
@@ -0,0 +1,66 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "ElevationDB.h"
+#include <Fact/Fact.h>
+
+#include <memory>
+
+// #include <QQmlComponent>
+#include <QGeoCoordinate>
+#include <QtCore>
+
+class ElevationMap : public Fact
+{
+    Q_OBJECT
+    Q_PROPERTY(double elevation READ elevation WRITE setElevation NOTIFY elevationChanged)
+    // Q_PROPERTY(QGeoCoordinate clickCoordinate READ clickCoordinate WRITE setClickCoordinate NOTIFY
+    //                clickCoordinateChanged)
+
+public:
+    explicit ElevationMap(Fact *parent = nullptr);
+
+    Fact *f_use;
+    Fact *f_path;
+
+    double elevation() const;
+    void setElevation(double v);
+    // QGeoCoordinate clickCoordinate() const;
+    // void setClickCoordinate(const QGeoCoordinate &v);
+
+    Q_INVOKABLE void setElevationByCoordinate(const QGeoCoordinate &v);
+    Q_INVOKABLE double getElevationByCoordinate(const QGeoCoordinate &v);
+
+protected:
+    double m_elevation;
+    // QGeoCoordinate m_clickCoordinate;
+
+private:
+    std::shared_ptr<AbstractElevationDB> m_elevationDB;
+
+    void createElevationDatabase();
+    // QObject *qml;
+
+signals:
+    void elevationChanged();
+};
diff --git a/src/Plugins/MapView/ElevationMap/ElevationPlugin.h b/src/Plugins/MapView/ElevationMap/ElevationPlugin.h
new file mode 100644
index 000000000..94e157d81
--- /dev/null
+++ b/src/Plugins/MapView/ElevationMap/ElevationPlugin.h
@@ -0,0 +1,37 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "ElevationMap.h"
+#include <App/PluginInterface.h>
+#include <QtCore>
+
+class ElevationPlugin : public PluginInterface
+{
+    Q_OBJECT
+    Q_PLUGIN_METADATA(IID "com.uavos.gcs.PluginInterface/1.0")
+    Q_INTERFACES(PluginInterface)
+public:
+    int flags() override { return Feature | Map; }
+    QObject *createControl() override { return new ElevationMap(); }
+    QStringList depends() override { return QStringList() << "Location"; }
+};
diff --git a/src/Plugins/MapView/ElevationMap/README.md b/src/Plugins/MapView/ElevationMap/README.md
new file mode 100644
index 000000000..767024310
--- /dev/null
+++ b/src/Plugins/MapView/ElevationMap/README.md
@@ -0,0 +1,7 @@
+---
+page: plugins
+---
+
+# Elevation
+
+Map plugin to determine the elevation of the terrain above sea level.
diff --git a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Common/MapObject.qml b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Common/MapObject.qml
index bae428f10..bcb003ff9 100755
--- a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Common/MapObject.qml
+++ b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Common/MapObject.qml
@@ -30,6 +30,7 @@ MapQuickItem {  //to be used inside MapComponent only
     property bool interactive: visibleOnMap
     property bool draggable: true
     property bool shadow: true
+    property bool alarmed: false
 
     property int implicitZ: 0
 
@@ -149,6 +150,24 @@ MapQuickItem {  //to be used inside MapComponent only
     Item {
         width: textItem.width
         height: textItem.height
+        Loader {
+            anchors.centerIn: textItem
+            active: alarmed
+            // asynchronous: true
+            sourceComponent: Component {
+                Rectangle {
+                    id: alarm
+                    width: textItem.width*textItem.scale+10
+                    height: textItem.height*textItem.scale+10
+                    antialiasing: true
+                    border.width: 2
+                    opacity: 0.8
+                    border.color: "#FF0000"
+                    radius: shadow?height/10:0
+                    color: "#FF0000"
+                }
+            }
+        }
         Loader {
             anchors.centerIn: textItem
             active: selected
diff --git a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Controls/MapInfo.qml b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Controls/MapInfo.qml
index 1ebba813e..e21b81dbd 100755
--- a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Controls/MapInfo.qml
+++ b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Controls/MapInfo.qml
@@ -183,4 +183,39 @@ RowLayout {
         }
     }
 
+    Item {
+        id: elevationItem
+        visible: apx.settings.application.plugins.elevationmap.value && apx.tools.elevationmap.use.value
+        property var elevation: visible ? apx.tools.elevationmap.elevation : NaN
+        property var color: isNaN(elevation) ? "#f00" : "#fff"
+
+        Layout.alignment: Qt.AlignVCenter
+        implicitHeight: control.size
+        implicitWidth: Math.max(elevationIcon.width+elevationText.implicitWidth, height*4)
+        
+        MaterialIcon {
+            id: elevationIcon
+            anchors.left: parent.left
+            anchors.top: parent.top
+            anchors.bottom: parent.bottom
+            name: "elevation-rise"
+            color: elevationItem.color
+            size: height
+        }
+        Text {
+            id: elevationText
+            anchors.left: elevationIcon.right
+            anchors.top: parent.top
+            anchors.bottom: parent.bottom
+            verticalAlignment: Text.AlignVCenter
+            font: apx.font_narrow(Style.fontSize)
+            color: elevationItem.color
+            text: isNaN(elevationItem.elevation) ? "NO" : elevationItem.elevation + "m"
+        }
+        ToolTipArea {
+            text: qsTr("Point elevation above sea level")
+            cursorShape: Qt.PointingHandCursor
+        }
+    }
+
 }
diff --git a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/MapControl/MapBase.qml b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/MapControl/MapBase.qml
index 978a038dc..7eeb17460 100755
--- a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/MapControl/MapBase.qml
+++ b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/MapControl/MapBase.qml
@@ -292,6 +292,9 @@ Map {
                 lastX = mouse.x
                 lastY = mouse.y
             }
+            
+            if(apx.settings.application.plugins.elevationmap.value && apx.tools.elevationmap.use.value)
+                apx.tools.elevationmap.setElevationByCoordinate(toCoordinate(Qt.point(mouse.x, mouse.y)));
         }
 
         onClicked: (mouse) => {
diff --git a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Mission/WaypointItem.qml b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Mission/WaypointItem.qml
index a339f5a2c..c180f2fa9 100755
--- a/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Mission/WaypointItem.qml
+++ b/src/Plugins/MapView/MissionPlanner/qml/Apx/Map/Mission/WaypointItem.qml
@@ -30,8 +30,8 @@ import APX.Mission as APX
 
 MissionObject {
     id: waypointItem
-    color: visibleOnMap?Style.cWaypoint:"yellow"
-    textColor: "black"
+    color: visibleOnMap?(alarmed?"#ffdead":Style.cWaypoint):"yellow"
+    textColor: alarmed?"#ff0000":"black"
     fact: modelData
     implicitZ: 50
 
@@ -62,6 +62,32 @@ MissionObject {
 
     property bool showDetails: interacting || active || f_distance===0 || (map.metersToPixelsFactor*f_distance)>150
 
+    // Unsafe AGL alarm
+    property var alarmOn: apx.settings.application.plugins.elevationmap.value && apx.tools.elevationmap.use.value
+    property var coordinate: fact?fact.coordinate:0
+    property var altitude: fact?fact.child("altitude").value:0
+    property var homeHmsl: mandala.est.ref.hmsl.value
+    property var agl: fact?fact.child("agl").value:0
+    property var elevation: NaN
+
+    onCoordinateChanged: alarmed = alarm()
+    onAltitudeChanged: alarmed = alarm()
+    onHomeHmslChanged: alarmed = alarm()
+    onAlarmOnChanged: alarmed = alarm()
+    
+    function alarm() 
+    {   
+        if(!fact)
+            return false
+        if(!alarmOn)
+            return false
+        elevation = apx.tools.elevationmap.getElevationByCoordinate(coordinate)
+        if(isNaN(elevation))
+            return false
+        agl = homeHmsl + altitude - elevation
+        return agl < fact.unsafeAgl
+    }
+
     //property bool pathVisibleOnMap: true
     //property Item pathItem
     //visible: mission.visible && (visibleOnMap || pathVisibleOnMap)
diff --git a/src/Plugins/MapView/Sites/SiteEdit.cpp b/src/Plugins/MapView/Sites/SiteEdit.cpp
index 8fbeb6adc..87bab7f24 100644
--- a/src/Plugins/MapView/Sites/SiteEdit.cpp
+++ b/src/Plugins/MapView/Sites/SiteEdit.cpp
@@ -32,12 +32,12 @@ SiteEdit::SiteEdit(Fact *parent,
     , blockUpdateItemData(false)
 {
     f_title = new Fact(this, "sname", tr("Site name"), tr("Label for geographic area"), Text);
-    f_latitude = new Fact(this, "latitude", tr("Latitude"), tr("Global postition latitude"), Float);
+    f_latitude = new Fact(this, "latitude", tr("Latitude"), tr("Global position latitude"), Float);
     f_latitude->setUnits("lat");
     f_longitude = new Fact(this,
                            "longitude",
                            tr("Longitude"),
-                           tr("Global postition longitude"),
+                           tr("Global position longitude"),
                            Float);
     f_longitude->setUnits("lon");
 
diff --git a/src/lib/ApxGcs/Mission/MissionItem.cpp b/src/lib/ApxGcs/Mission/MissionItem.cpp
index 6d1260882..3e5306ed3 100644
--- a/src/lib/ApxGcs/Mission/MissionItem.cpp
+++ b/src/lib/ApxGcs/Mission/MissionItem.cpp
@@ -52,13 +52,13 @@ MissionItem::MissionItem(MissionGroup *parent,
     f_latitude = new MissionField(this,
                                   "lat",
                                   tr("Latitude"),
-                                  tr("Global postition latitude"),
+                                  tr("Global position latitude"),
                                   Float);
     f_latitude->setUnits("lat");
     f_longitude = new MissionField(this,
                                    "lon",
                                    tr("Longitude"),
-                                   tr("Global postition longitude"),
+                                   tr("Global position longitude"),
                                    Float);
     f_longitude->setUnits("lon");
 
diff --git a/src/lib/ApxGcs/Mission/Poi.cpp b/src/lib/ApxGcs/Mission/Poi.cpp
index ba219356d..bb930028b 100644
--- a/src/lib/ApxGcs/Mission/Poi.cpp
+++ b/src/lib/ApxGcs/Mission/Poi.cpp
@@ -31,6 +31,7 @@ Poi::Poi(MissionGroup *parent)
     f_hmsl = new MissionField(this, "hmsl", tr("HMSL"), tr("Object of interest altitude MSL"), Int);
     f_hmsl->setUnits("m");
     f_hmsl->setEnumStrings(QStringList() << "ground");
+    f_hmsl->setOpt("extrainfo", "ExtraInfoElevation.qml");
 
     f_radius = new MissionField(this, "radius", tr("Radius"), tr("Loiter radius"), Int);
     f_radius->setUnits("m");
diff --git a/src/lib/ApxGcs/Mission/Runway.cpp b/src/lib/ApxGcs/Mission/Runway.cpp
index ae2135ed3..b42a84089 100644
--- a/src/lib/ApxGcs/Mission/Runway.cpp
+++ b/src/lib/ApxGcs/Mission/Runway.cpp
@@ -48,6 +48,7 @@ Runway::Runway(MissionGroup *parent)
                               Int);
     f_hmsl->setUnits("m");
     f_hmsl->setEnumStrings(QStringList() << "default");
+    f_hmsl->setOpt("extrainfo", "ExtraInfoElevation.qml");
 
     f_dN = new MissionField(this, "dN", tr("Delta North"), tr("Runway direction point (north)"), Int);
     f_dN->setUnits("m");
diff --git a/src/lib/ApxGcs/Mission/Waypoint.cpp b/src/lib/ApxGcs/Mission/Waypoint.cpp
index e012c2b71..41f79f137 100644
--- a/src/lib/ApxGcs/Mission/Waypoint.cpp
+++ b/src/lib/ApxGcs/Mission/Waypoint.cpp
@@ -29,14 +29,28 @@ Waypoint::Waypoint(MissionGroup *parent)
     , m_bearing(0)
     , m_reachable(false)
     , m_warning(false)
+    , m_chosen(ALT)
 {
-    f_altitude = new MissionField(this, "altitude", tr("Altitude"), tr("Altitude above ground"), Int);
+    f_altitude = new MissionField(this, "altitude", tr("Altitude"), tr("Altitude above home"), Int);
     f_altitude->setUnits("m");
+    f_altitude->setOpt("extrainfo", "ExtraInfoAltitude.qml");
+    connect(f_altitude, &Fact::triggered, this, [this]() { this->setChosen(ALT); });
+
+    f_agl = new MissionField(this, "agl", tr("AGL"), tr("Altitude above ground level"), Int);
+    f_agl->setUnits("m");
+    f_agl->setDefaultValue(0);
+    f_agl->setOpt("extrainfo", "ExtraInfoAgl.qml");
+    connect(f_agl, &Fact::triggered, this, [this]() { this->setChosen(AGL); });
+
+    f_amsl = new MissionField(this, "amsl", tr("AMSL"), tr("Altitude above sea level"), Int);
+    f_amsl->setUnits("m");
+    f_amsl->setDefaultValue(0);
+    f_amsl->setOpt("extrainfo", "ExtraInfoAmsl.qml");
+    connect(f_amsl, &Fact::triggered, this, [this]() { this->setChosen(AMSL); });
 
     f_type = new MissionField(this, "type", tr("Type"), tr("Maneuver type"), Enum);
     f_type->setEnumStrings(QStringList() << "direct"
                                          << "track");
-
     //actions
     f_actions = new WaypointActions(this);
 
@@ -212,3 +226,21 @@ void Waypoint::setWarning(bool v)
     m_warning = v;
     emit warningChanged();
 }
+
+Waypoint::ChosenFact Waypoint::chosen() const
+{
+    return m_chosen;
+}
+
+void Waypoint::setChosen(ChosenFact v)
+{
+    if (m_chosen == v)
+        return;
+    m_chosen = v;
+    emit chosenChanged();
+}
+
+int Waypoint::unsafeAgl() const
+{
+    return UNSAFE_AGL;
+}
diff --git a/src/lib/ApxGcs/Mission/Waypoint.h b/src/lib/ApxGcs/Mission/Waypoint.h
index 4cb9423eb..7e2dc416f 100644
--- a/src/lib/ApxGcs/Mission/Waypoint.h
+++ b/src/lib/ApxGcs/Mission/Waypoint.h
@@ -33,11 +33,22 @@ class Waypoint : public MissionItem
 
     Q_PROPERTY(bool reachable READ reachable WRITE setReachable NOTIFY reachableChanged)
     Q_PROPERTY(bool warning READ warning WRITE setWarning NOTIFY warningChanged)
+    Q_PROPERTY(ChosenFact chosen READ chosen WRITE setChosen NOTIFY chosenChanged)
+    Q_PROPERTY(int unsafeAgl READ unsafeAgl CONSTANT)
 
 public:
+    enum ChosenFact {
+        ALT = 0,
+        AGL,
+        AMSL,
+    };
+    Q_ENUM(ChosenFact)
+
     explicit Waypoint(MissionGroup *parent);
 
     Fact *f_altitude;
+    Fact *f_agl;
+    Fact *f_amsl;
     Fact *f_type;
 
     WaypointActions *f_actions;
@@ -61,11 +72,19 @@ private slots:
     bool warning() const;
     void setWarning(bool v);
 
+    ChosenFact chosen() const;
+    void setChosen(ChosenFact v);
+
+    int unsafeAgl() const;
+
 protected:
+    static const int UNSAFE_AGL = 100; // Suggested by the CEO
+    ChosenFact m_chosen;
     bool m_reachable;
     bool m_warning;
 
 signals:
     void reachableChanged();
     void warningChanged();
+    void chosenChanged();
 };
diff --git a/src/lib/ApxGcs/Telemetry/TelemetryPlayer.cpp b/src/lib/ApxGcs/Telemetry/TelemetryPlayer.cpp
index 561e6caa4..184918728 100644
--- a/src/lib/ApxGcs/Telemetry/TelemetryPlayer.cpp
+++ b/src/lib/ApxGcs/Telemetry/TelemetryPlayer.cpp
@@ -49,7 +49,7 @@ TelemetryPlayer::TelemetryPlayer(Telemetry *telemetry, Fact *parent)
             &TelemetryPlayer::setCacheId);
     connect(this, &Fact::activeChanged, this, &TelemetryPlayer::updateActive);
 
-    f_time = new Fact(this, "time", tr("Time"), tr("Current postition"), Int);
+    f_time = new Fact(this, "time", tr("Time"), tr("Current position"), Int);
     f_time->setMin((quint64) 0);
     f_time->setUnits("ms");
     connect(f_time, &Fact::valueChanged, this, &TelemetryPlayer::updateTime);
diff --git a/src/main/qml/Apx/Common/Button/ButtonBase.qml b/src/main/qml/Apx/Common/Button/ButtonBase.qml
index fabe9b1c1..838ac8951 100644
--- a/src/main/qml/Apx/Common/Button/ButtonBase.qml
+++ b/src/main/qml/Apx/Common/Button/ButtonBase.qml
@@ -49,7 +49,7 @@ Button {
 
     // geometry
 
-    Material.roundedScale: height/32
+    Material.roundedScale: Material.ExtraSmallScale
 
     padding: height/32
     spacing: height/20
diff --git a/src/main/qml/Apx/Common/FactButton/EditorIntWithFeet.qml b/src/main/qml/Apx/Common/FactButton/EditorIntWithFeet.qml
new file mode 100644
index 000000000..c67ff680e
--- /dev/null
+++ b/src/main/qml/Apx/Common/FactButton/EditorIntWithFeet.qml
@@ -0,0 +1,234 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+
+import Apx.Common
+
+SpinBox {
+    id: editor
+    property var opts: fact.opts
+    property bool isFeet: !fact.parentFact.isFeet ? false : true
+
+    hoverEnabled: true
+    
+    from: (typeof fact.min!=='undefined')?fact.min*div:-1000000000
+    to: (typeof fact.max!=='undefined')?fact.max*div:1000000000
+    
+    property real div: 1
+
+    value: !isFeet ? fact.value * div : opts.ft * div
+
+    readonly property real precision: fact.precision
+
+    font: apx.font_narrow(factButton.valueSize)
+
+    property int wgrow: implicitWidth
+    onImplicitWidthChanged: {
+        if(implicitWidth<wgrow)implicitWidth=wgrow
+        else wgrow=implicitWidth
+    }
+
+    readonly property int defaultStepSize: fact.increment>0?fact.increment*div:1 
+    
+    stepSize: defaultStepSize * stepMult
+
+    up.onPressedChanged: start()
+    down.onPressedChanged: start()
+
+    property int elapsed: 0
+    property real startTime: 0
+    function start(inc)
+    {
+        if(activeFocus)
+            factButton.forceActiveFocus()
+
+        if(up.pressed || down.pressed)
+            startTime = new Date().getTime()
+        else{
+            startTime = 0
+            elapsed = 0
+        }
+    }
+    property int stepMult: 
+        elapsed>6
+            ? 100
+            : elapsed>2
+                ? 10
+                : 1
+
+    contentItem: Item{
+        implicitWidth: isFeet ? textInputFt.width : textInput.width
+        
+        TextInput {
+            id: textInputFt
+            visible: isFeet
+            validator: IntValidator{bottom: editor.from; top: editor.to}
+
+            anchors.centerIn: parent
+            font: editor.font
+
+            color: activeFocus?Material.color(Material.Yellow):Material.primaryTextColor
+            text: opts.ft + " ft"
+
+            activeFocusOnTab: true
+
+            width: Math.max(contentWidth, height*3)
+
+            selectByMouse: true
+            onEditingFinished: {
+                opts.ft = text
+                fact.opts = opts
+                fact.setValue(ft2m(text))
+                console.log("onEditingFinished - isFeet", text, "-", fact.opts.ft)
+                factButton.forceActiveFocus();
+            }
+            onActiveFocusChanged: {
+                if(activeFocus){
+                    text=opts.ft    
+                    selectAll();
+                }else{
+                    text=Qt.binding(function(){return opts.ft + " ft"})
+                }
+            }
+            horizontalAlignment: Qt.AlignHCenter
+            verticalAlignment: Qt.AlignVCenter
+            Rectangle {
+                z: parent.z-1
+                visible: fact.enabled
+                anchors.centerIn: parent
+                width: parent.width+Style.spacing*2
+                height: parent.height
+                radius: height/10
+                color: "#000"
+                border.width: 0
+                opacity: 0.3
+            }
+        }
+        TextInput {
+            id: textInput
+            visible: !textInputFt.visible
+ 
+            anchors.centerIn: parent
+            font: editor.font
+
+            color: activeFocus?Material.color(Material.Yellow):Material.primaryTextColor
+            text: fact.text
+            activeFocusOnTab: true
+
+            width: Math.max(contentWidth, height*3)
+
+            selectByMouse: true
+            onEditingFinished: {
+                fact.setValue(text)
+                opts.ft = m2ft(fact.value)
+                fact.opts = opts;
+                console.log("onEditingFinished - isFeet", text, "-", fact.opts.ft)
+
+                factButton.forceActiveFocus();
+            }
+            onActiveFocusChanged: {
+                if(activeFocus){
+                        text=fact.editorText()
+                        selectAll();
+                }else{
+                    text=Qt.binding(function(){return fact.text})
+                }
+            }
+            horizontalAlignment: Qt.AlignHCenter
+            verticalAlignment: Qt.AlignVCenter
+            Rectangle {
+                z: parent.z-1
+                visible: fact.enabled
+                anchors.centerIn: parent
+                width: parent.width+Style.spacing*2
+                height: parent.height
+                radius: height/10
+                color: "#000"
+                border.width: 0
+                opacity: 0.3
+            }
+        }
+    }
+
+    padding: 0 
+    spacing: 0
+    topPadding: 0
+    bottomPadding: 0
+    baselineOffset: 0
+
+    background: Item {
+        implicitWidth: editor.height*3
+    }
+
+    leftPadding: 0
+    rightPadding: 0
+    leftInset: 0
+    rightInset: 0
+
+    implicitWidth: Math.max(implicitBackgroundWidth + leftInset + rightInset,
+                            contentItem.implicitWidth +
+                            height * 2 + Style.spacing*4)
+
+    onValueModified: {
+        var v=value
+        v -= v % stepSize
+        v /= div
+
+        console.log("2. onValueModified - ", v)
+
+        if(!isFeet) {
+            fact.setValue(v)
+            opts.ft = m2ft(v)
+            fact.opts = opts
+        } else {
+            opts.ft = v
+            fact.opts = opts
+            fact.setValue(ft2m(v))
+        }
+
+        value=Qt.binding(function(){return Math.round(!isFeet ? fact.value*div : opts.ft*div)})
+
+        console.log("3. onValueModified - ", value)
+
+        // accelerate
+        elapsed = startTime>0?(new Date().getTime()-startTime)/1000:0
+    }
+
+    ToolTip {
+        parent: editor
+        visible: hovered
+        font: parent.font
+        implicitHeight: parent.height
+        topPadding: (implicitHeight-implicitContentHeight)/2
+        text: isFeet ? textInput.text : textInputFt.text
+        x: parent.x + parent.implicitWidth + 7*ui.scale
+        y: parent.y
+        background: Rectangle {
+            color: "#404040"
+            border.color: "#d3d3d3"
+            radius: height/10
+        }
+        onVisibleChanged: console.log(height,"-",implicitHeight,"-",implicitBackgroundHeight,"-",implicitContentHeight,)
+    }
+}
diff --git a/src/main/qml/Apx/Common/FactButton/ExtraInfoAgl.qml b/src/main/qml/Apx/Common/FactButton/ExtraInfoAgl.qml
new file mode 100644
index 000000000..400187297
--- /dev/null
+++ b/src/main/qml/Apx/Common/FactButton/ExtraInfoAgl.qml
@@ -0,0 +1,84 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+
+import Apx.Common
+import APX.Mission
+
+Item {
+    id: item
+    visible: apx.settings.application.plugins.elevationmap.value && apx.tools.elevationmap.use.value
+    property var map: apx.tools.elevationmap
+    property var altitude: fact.parentFact.child("altitude").value
+    property var homeHmsl: mandala.est.ref.hmsl.value
+    property var coordinate: fact.parentFact.coordinate
+    property var elevation: NaN
+    property var color: isNaN(elevation) ? "#dc143c" : "#32cd32"
+    property bool chosen: fact.parentFact.chosen == Waypoint.AGL
+
+    anchors.fill: parent
+    anchors.verticalCenter: parent.verticalCenter
+    implicitHeight: parent.height
+    implicitWidth: Math.max(icon.width+text.implicitWidth, height*4)
+        
+    MaterialIcon {
+        id: icon
+        anchors.left: parent.left
+        anchors.verticalCenter: parent.verticalCenter
+        name: "elevation-rise"
+        color: item.color
+        size: text.contentHeight
+        verticalAlignment: Text.AlignVCenter
+    }
+    Text {
+        id: text
+        anchors.left: icon.right
+        anchors.verticalCenter: parent.verticalCenter
+        verticalAlignment: Text.AlignVCenter
+        font: apx.font_narrow(Style.fontSize)
+        color: item.color
+        text: isNaN(item.elevation) ? "NO" : item.elevation + "m"
+    }
+
+    onVisibleChanged: fact.parentFact.chosen = Waypoint.ALT
+    onChosenChanged: _editor.enabled = chosen
+    onAltitudeChanged: aglProcessing()
+    
+    Component.onCompleted: {
+        _editor.enabled = chosen
+        if(visible)
+            elevation = map.getElevationByCoordinate(coordinate)
+        aglProcessing() 
+    }
+
+    function aglProcessing() 
+    {   
+        if(isNaN(elevation)) {
+            fact.value = 0
+            return
+        }
+        fact.value = homeHmsl + altitude - elevation;
+        factButton.color = fact.value < fact.parentFact.unsafeAgl ? Material.color(Material.Red) : action_color()
+    }
+}
diff --git a/src/main/qml/Apx/Common/FactButton/ExtraInfoAltitude.qml b/src/main/qml/Apx/Common/FactButton/ExtraInfoAltitude.qml
new file mode 100644
index 000000000..2cd13dd0e
--- /dev/null
+++ b/src/main/qml/Apx/Common/FactButton/ExtraInfoAltitude.qml
@@ -0,0 +1,97 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+
+import Apx.Common
+import APX.Mission
+
+Item {
+    id: item
+    visible: apx.settings.application.plugins.elevationmap.value && apx.tools.elevationmap.use.value
+
+    property var map: apx.tools.elevationmap
+    property var agl: fact.parentFact.child("agl").value
+    property var amsl: fact.parentFact.child("amsl").value
+    property var coordinate: fact.parentFact.coordinate
+    property var homeHmsl: mandala.est.ref.hmsl.value
+    property var color: "#dcdcdc"
+    property var elevation: NaN
+    property bool chosen: fact.parentFact.chosen == Waypoint.ALT
+
+    anchors.fill: parent
+    anchors.verticalCenter: parent.verticalCenter
+    implicitHeight: parent.height
+    implicitWidth: Math.max(icon.width+text.implicitWidth, height*4)
+        
+    MaterialIcon {
+        id: icon
+        anchors.left: parent.left
+        anchors.verticalCenter: parent.verticalCenter
+        name: "home-map-marker"
+        color: item.color
+        size: text.contentHeight
+        verticalAlignment: Text.AlignVCenter
+    }
+    Text {
+        id: text
+        anchors.left: icon.right
+        anchors.verticalCenter: parent.verticalCenter
+        verticalAlignment: Text.AlignVCenter
+        font: apx.font_narrow(Style.fontSize)
+        color: item.color
+        text: homeHmsl + "m"
+    }
+
+    onChosenChanged: _editor.enabled = chosen
+    onAglChanged: altitudeProcessing()
+    onAmslChanged: altitudeProcessing()
+    onHomeHmslChanged: altitudeProcessing()
+    
+    Component.onCompleted: {
+        _editor.enabled = chosen
+        if(visible)
+            elevation = map.getElevationByCoordinate(coordinate)
+        
+        // Proposal to ON/OFF AGL and HTML when elevation map is disabled
+        if(!visible){
+            fact.parentFact.child("agl").visible = false
+            fact.parentFact.child("amsl").visible = false
+        } else {
+            fact.parentFact.child("agl").visible = true
+            fact.parentFact.child("amsl").visible = true
+        }    
+    }
+
+    function altitudeProcessing() 
+    {   
+        if(isNaN(elevation))
+            return
+        if(chosen)
+            return
+        if (fact.parentFact.chosen == Waypoint.AGL)
+            fact.value = elevation + agl - homeHmsl
+        if (fact.parentFact.chosen == Waypoint.AMSL) 
+            fact.value = amsl - homeHmsl
+    }
+}
diff --git a/src/main/qml/Apx/Common/FactButton/ExtraInfoAmsl.qml b/src/main/qml/Apx/Common/FactButton/ExtraInfoAmsl.qml
new file mode 100644
index 000000000..bc86cc6a7
--- /dev/null
+++ b/src/main/qml/Apx/Common/FactButton/ExtraInfoAmsl.qml
@@ -0,0 +1,50 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+
+import Apx.Common
+import APX.Mission
+
+Item {
+    id: item
+    property var homeHmsl: mandala.est.ref.hmsl.value
+    property var altitude: fact.parentFact.child("altitude").value
+    property bool chosen: fact.parentFact.chosen == Waypoint.AMSL
+        
+    onChosenChanged: _editor.enabled = chosen
+    onVisibleChanged: fact.parentFact.chosen = Waypoint.ALT
+    onAltitudeChanged: altitudeProcessing()
+    
+    Component.onCompleted: {
+        _editor.enabled = chosen
+        fact.value = altitude + homeHmsl
+    }
+
+    function altitudeProcessing() 
+    {   
+        if(chosen)
+            return
+        fact.value = altitude + homeHmsl
+    }
+}
diff --git a/src/main/qml/Apx/Common/FactButton/ExtraInfoElevation.qml b/src/main/qml/Apx/Common/FactButton/ExtraInfoElevation.qml
new file mode 100644
index 000000000..7fc3c6d30
--- /dev/null
+++ b/src/main/qml/Apx/Common/FactButton/ExtraInfoElevation.qml
@@ -0,0 +1,60 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <sa@uavos.com>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+
+import Apx.Common
+
+Item {
+    id: item
+    visible: apx.settings.application.plugins.elevationmap.value && apx.tools.elevationmap.use.value
+    property var map: apx.tools.elevationmap
+    property var coordinate: fact.parentFact.coordinate
+    property var elevation: NaN
+    property var color: isNaN(elevation) ? "#dc143c" : "#32cd32" 
+
+    anchors.fill: parent
+    anchors.verticalCenter: parent.verticalCenter
+    implicitHeight: parent.height
+    implicitWidth: Math.max(icon.width+text.implicitWidth, height*4)
+        
+    MaterialIcon {
+        id: icon
+        anchors.left: parent.left
+        anchors.verticalCenter: parent.verticalCenter
+        name: "elevation-rise"
+        color: item.color
+        size: text.contentHeight
+        verticalAlignment: Text.AlignVCenter
+    }
+    Text {
+        id: text
+        anchors.left: icon.right
+        anchors.verticalCenter: parent.verticalCenter
+        verticalAlignment: Text.AlignVCenter
+        font: apx.font_narrow(Style.fontSize)
+        color: item.color
+        text: isNaN(item.elevation) ? "NO" : item.elevation + "m"
+    }
+    Component.onCompleted: elevation = map.getElevationByCoordinate(coordinate)
+}
diff --git a/src/main/qml/Apx/Common/FactButton/FactButton.qml b/src/main/qml/Apx/Common/FactButton/FactButton.qml
index 3414318d4..d206a2127 100644
--- a/src/main/qml/Apx/Common/FactButton/FactButton.qml
+++ b/src/main/qml/Apx/Common/FactButton/FactButton.qml
@@ -221,6 +221,7 @@ ActionButton {
 
             // value
             Item {
+                id: _data
                 anchors.right: _next.left
                 anchors.top: parent.top
                 anchors.bottom: parent.bottom
@@ -253,6 +254,23 @@ ActionButton {
                 }
             }
 
+            // extrainfo
+            Item {
+                id: _extrainfo
+                property var mrg: 10
+                anchors.top: parent.top
+                anchors.bottom: parent.bottom
+                anchors.right: _data.left
+                anchors.rightMargin: mrg
+
+                Loader {
+                    active: !fact.opts.extrainfo ? false : true
+                    anchors.fill: parent
+                    // Material.accent: Material.color(Material.Green)
+                    source: active?getExtrainfoSource():""
+                    onLoaded: _extrainfo.mrg = item.implicitWidth + 10*Style.scale
+                }
+            }
         }
     }
 
@@ -310,6 +328,17 @@ ActionButton {
         return "Editor"+qml+".qml"
     }
 
+    function getExtrainfoSource()
+    {
+        if(!fact)
+            return ""
+
+         if(fact.opts.extrainfo)
+            return fact.opts.extrainfo
+
+        return ""       
+    }
+
     function openDialog(name)
     {
         if(!fact)return
diff --git a/translations/by.ts b/translations/by.ts
index 4da620ef0..bf8afe700 100644
--- a/translations/by.ts
+++ b/translations/by.ts
@@ -2125,7 +2125,7 @@
         <translation>Шырата</translation>
     </message>
     <message>
-        <source>Global postition latitude</source>
+        <source>Global position latitude</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -2133,7 +2133,7 @@
         <translation>Даўгата</translation>
     </message>
     <message>
-        <source>Global postition longitude</source>
+        <source>Global position longitude</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -3828,7 +3828,7 @@ socat -d -d pty,raw,echo=0 pty,raw,echo=0</source>
         <translation>Шырата</translation>
     </message>
     <message>
-        <source>Global postition latitude</source>
+        <source>Global position latitude</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -3836,7 +3836,7 @@ socat -d -d pty,raw,echo=0 pty,raw,echo=0</source>
         <translation>Даўгата</translation>
     </message>
     <message>
-        <source>Global postition longitude</source>
+        <source>Global position longitude</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -4158,7 +4158,7 @@ socat -d -d pty,raw,echo=0 pty,raw,echo=0</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Current postition</source>
+        <source>Current position</source>
         <translation type="unfinished"></translation>
     </message>
     <message>