diff --git a/ChangeLog.md b/ChangeLog.md
index 4c282bf4b9b978490706970dd82461574741686a..87f2913b3d5d2863e7a5c7fe84bc1f77a9e6edb6 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.4.3 - Not yet released
 * Fix bug where Resume Mission would not display correctly in some cases. Issue #6835.
+* Fix Planned Home Position altitude when no terrain data available. Issue #6846.
 
 ### 3.4.2
 * Fix bug where new mission items may end up with 0 altitude internally and sent to vehicle while UI shows correct altitude. Issue #6823.
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index f64e55eaa56d46f7c215c7347bc335286fd07d50..233f10af638ef6202cea39f7d3c08a47a8defe9f 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1528,7 +1528,9 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
         VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
 
         if (item->specifiesCoordinate()) {
-            _settingsItem->setCoordinate(item->coordinate().atDistanceAndAzimuth(30, 0));
+            QGeoCoordinate plannedHomeCoord = item->coordinate().atDistanceAndAzimuth(30, 0);
+            plannedHomeCoord.setAltitude(0);
+            _settingsItem->setCoordinate(plannedHomeCoord);
         }
     }
 }
diff --git a/src/MissionManager/MissionSettingsItem.cc b/src/MissionManager/MissionSettingsItem.cc
index af784e7657642303936efb28747395eefde5e52e..912e67fc5737efac2db58528aeff4f49376ff7f8 100644
--- a/src/MissionManager/MissionSettingsItem.cc
+++ b/src/MissionManager/MissionSettingsItem.cc
@@ -231,7 +231,7 @@ void MissionSettingsItem::setHomePositionFromVehicle(const QGeoCoordinate& coord
 void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
     if (_plannedHomePositionCoordinate != coordinate) {
-        // ArduPilot tends to send crap home positions at initial vehicel boot, discard them
+        // ArduPilot tends to send crap home positions at initial vehicle boot, discard them
         if (coordinate.isValid() && (coordinate.latitude() != 0 || coordinate.longitude() != 0)) {
             _plannedHomePositionCoordinate = coordinate;
             emit coordinateChanged(coordinate);
@@ -269,7 +269,6 @@ void MissionSettingsItem::_updateAltitudeInCoordinate(QVariant value)
     double newAltitude = value.toDouble();
 
     if (!qFuzzyCompare(_plannedHomePositionCoordinate.altitude(), newAltitude)) {
-
         _plannedHomePositionCoordinate.setAltitude(newAltitude);
         emit coordinateChanged(_plannedHomePositionCoordinate);
         emit exitCoordinateChanged(_plannedHomePositionCoordinate);
@@ -295,7 +294,7 @@ void MissionSettingsItem::setMissionEndRTL(bool missionEndRTL)
 
 void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
 {
-    if (!_plannedHomePositionFromVehicle) {
+    if (!_plannedHomePositionFromVehicle && !qIsNaN(terrainAltitude)) {
         _plannedHomePositionAltitudeFact.setRawValue(terrainAltitude);
     }
 }