diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index 5996c673a6..cfe20eed01 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -102,7 +102,8 @@ public:
     float get_altitude(uint8_t instance) const { return sensors[instance].altitude; }
 
     // get altitude above mean sea level
-    float get_altitude_AMSL(void) const { return get_altitude() + _field_elevation_active; }
+    float get_altitude_AMSL(uint8_t instance) const { return get_altitude(instance) + _field_elevation_active; }
+    float get_altitude_AMSL(void) const { return get_altitude_AMSL(_primary); }
 
     // returns which i2c bus is considered "the" external bus
     uint8_t external_bus() const { return _ext_bus; }
diff --git a/libraries/AP_Baro/AP_Baro_Logging.cpp b/libraries/AP_Baro/AP_Baro_Logging.cpp
index 91c622aaa0..e0e38f9bec 100644
--- a/libraries/AP_Baro/AP_Baro_Logging.cpp
+++ b/libraries/AP_Baro/AP_Baro_Logging.cpp
@@ -13,6 +13,7 @@ void AP_Baro::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
         time_us       : time_us,
         instance      : baro_instance,
         altitude      : get_altitude(baro_instance),
+        altitude_AMSL : get_altitude_AMSL(baro_instance),
         pressure      : get_pressure(baro_instance),
         temperature   : (int16_t)(get_temperature(baro_instance) * 100 + 0.5f),
         climbrate     : get_climb_rate(),
diff --git a/libraries/AP_Baro/LogStructure.h b/libraries/AP_Baro/LogStructure.h
index 791cf33a55..d67b6be3c4 100644
--- a/libraries/AP_Baro/LogStructure.h
+++ b/libraries/AP_Baro/LogStructure.h
@@ -11,6 +11,7 @@
 // @Field: TimeUS: Time since system startup
 // @Field: I: barometer sensor instance number
 // @Field: Alt: calculated altitude
+// @Field: AltAMSL: altitude AMSL
 // @Field: Press: measured atmospheric pressure
 // @Field: Temp: measured atmospheric temperature
 // @Field: CRt: derived climb rate from primary barometer
@@ -23,6 +24,7 @@ struct PACKED log_BARO {
     uint64_t time_us;
     uint8_t instance;
     float   altitude;
+    float   altitude_AMSL;
     float   pressure;
     int16_t temperature;
     float   climbrate;
@@ -51,10 +53,10 @@ struct PACKED log_BARD {
 #define LOG_STRUCTURE_FROM_BARO                                         \
     { LOG_BARO_MSG, sizeof(log_BARO),                                   \
             "BARO",                                                     \
-            "Q"       "B"  "f"    "f"      "c"     "f"    "I"    "f"       "f"        "B", \
-            "TimeUS," "I," "Alt," "Press," "Temp," "CRt," "SMS," "Offset," "GndTemp," "Health", \
-            "s"       "#"  "m"    "P"      "O"     "n"    "s"    "m"       "O"        "-", \
-            "F"       "-"  "0"    "0"      "B"     "0"    "C"    "?"       "0"        "-", \
+            "Q"       "B"  "f"    "f"        "f"      "c"     "f"    "I"    "f"       "f"        "B", \
+            "TimeUS," "I," "Alt," "AltAMSL," "Press," "Temp," "CRt," "SMS," "Offset," "GndTemp," "Health", \
+            "s"       "#"  "m"    "m"        "P"      "O"     "n"    "s"    "m"       "O"        "-", \
+            "F"       "-"  "0"    "0"        "0"      "B"     "0"    "C"    "?"       "0"        "-", \
             true                                                        \
             },                                                          \
     { LOG_BARD_MSG, sizeof(log_BARD),                                   \