diff --git a/OsmAnd/res/layout/elevation_preference.xml b/OsmAnd/res/layout/elevation_preference.xml
new file mode 100644
index 0000000000..55037474bf
--- /dev/null
+++ b/OsmAnd/res/layout/elevation_preference.xml
@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+	xmlns:app="http://schemas.android.com/apk/res-auto"
+	xmlns:osmand="http://schemas.android.com/apk/res-auto"
+	xmlns:tools="http://schemas.android.com/tools"
+	android:layout_width="match_parent"
+	android:layout_height="wrap_content"
+	android:background="?attr/list_background_color"
+	android:gravity="center_vertical">
+
+	<LinearLayout
+		android:id="@+id/selectable_list_item"
+		android:layout_width="match_parent"
+		android:layout_height="wrap_content"
+		android:minHeight="@dimen/setting_list_item_large_height"
+		tools:background="?android:attr/selectableItemBackground">
+
+		<androidx.appcompat.widget.AppCompatImageView
+			android:id="@+id/icon_elevation"
+			android:layout_width="@dimen/standard_icon_size"
+			android:layout_height="@dimen/standard_icon_size"
+			android:layout_gravity="center_vertical"
+			android:layout_marginStart="@dimen/content_padding"
+			android:layout_marginLeft="@dimen/content_padding"
+			android:layout_marginTop="@dimen/bottom_sheet_icon_margin"
+			android:layout_marginEnd="@dimen/bottom_sheet_icon_margin"
+			android:layout_marginRight="@dimen/bottom_sheet_icon_margin"
+			android:layout_marginBottom="@dimen/bottom_sheet_icon_margin"
+			osmand:srcCompat="@drawable/ic_action_altitude_average" />
+
+		<androidx.appcompat.widget.AppCompatImageView
+			android:id="@+id/icon"
+			android:layout_width="1dp"
+			android:layout_height="1dp" />
+
+		<LinearLayout
+			android:layout_width="0dp"
+			android:layout_height="wrap_content"
+			android:layout_gravity="center_vertical"
+			android:layout_weight="1"
+			android:orientation="vertical">
+
+			<net.osmand.plus.widgets.TextViewEx
+				android:id="@android:id/title"
+				android:layout_width="match_parent"
+				android:layout_height="wrap_content"
+				android:ellipsize="marquee"
+				android:fadingEdge="horizontal"
+				android:letterSpacing="@dimen/text_button_letter_spacing"
+				android:maxLines="2"
+				android:textColor="?android:textColorPrimary"
+				android:textSize="@dimen/default_list_text_size"
+				osmand:typeface="@string/font_roboto_regular" />
+
+			<net.osmand.plus.widgets.TextViewEx
+				android:id="@android:id/summary"
+				android:layout_width="match_parent"
+				android:layout_height="wrap_content"
+				android:letterSpacing="@dimen/description_letter_spacing"
+				android:textColor="?android:textColorSecondary"
+				android:textSize="@dimen/default_desc_text_size"
+				osmand:typeface="@string/font_roboto_regular" />
+
+		</LinearLayout>
+
+		<View
+			android:layout_width="1dp"
+			android:layout_height="match_parent"
+			android:layout_marginTop="18dp"
+			android:layout_marginBottom="18dp"
+			android:background="?attr/divider_color_basic" />
+
+		<androidx.appcompat.widget.SwitchCompat
+			android:id="@+id/switchWidget"
+			android:layout_width="wrap_content"
+			android:layout_height="match_parent"
+			android:background="@null"
+			android:clickable="true"
+			android:focusable="true"
+			android:paddingStart="@dimen/content_padding"
+			android:paddingLeft="@dimen/content_padding"
+			android:paddingEnd="@dimen/content_padding"
+			android:paddingRight="@dimen/content_padding" />
+
+	</LinearLayout>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/OsmAnd/src/net/osmand/plus/routepreparationmenu/RouteOptionsBottomSheet.java b/OsmAnd/src/net/osmand/plus/routepreparationmenu/RouteOptionsBottomSheet.java
index 4c54fa47b0..6371088de6 100644
--- a/OsmAnd/src/net/osmand/plus/routepreparationmenu/RouteOptionsBottomSheet.java
+++ b/OsmAnd/src/net/osmand/plus/routepreparationmenu/RouteOptionsBottomSheet.java
@@ -12,6 +12,7 @@ import android.widget.LinearLayout;
 import android.widget.TextView;
 
 import androidx.annotation.ColorRes;
+import androidx.appcompat.widget.SwitchCompat;
 import androidx.core.content.ContextCompat;
 import androidx.fragment.app.FragmentManager;
 
@@ -49,6 +50,7 @@ import net.osmand.plus.settings.backend.CommonPreference;
 import net.osmand.plus.settings.backend.OsmandSettings;
 import net.osmand.plus.settings.bottomsheets.ElevationDateBottomSheet;
 import net.osmand.plus.settings.fragments.BaseSettingsFragment;
+import net.osmand.plus.widgets.TextViewEx;
 import net.osmand.router.GeneralRouter;
 import net.osmand.router.GeneralRouter.RoutingParameter;
 import net.osmand.util.Algorithms;
@@ -130,6 +132,8 @@ public class RouteOptionsBottomSheet extends MenuBottomSheetDialogFragment {
 				items.add(createTimeConditionalRoutingItem(optionsItem));
 			} else if (optionsItem instanceof OtherSettingsRoutingParameter) {
 				items.add(createOtherSettingsRoutingItem(optionsItem));
+			} else if (USE_HEIGHT_OBSTACLES.equals(optionsItem.getKey()) && hasReliefParameters()) {
+				items.add(inflateElevationParameter(optionsItem));
 			} else {
 				inflateRoutingParameter(optionsItem);
 			}
@@ -256,6 +260,49 @@ public class RouteOptionsBottomSheet extends MenuBottomSheetDialogFragment {
 				.create();
 	}
 
+	private BaseBottomSheetItem inflateElevationParameter(final LocalRoutingParameter optionsItem) {
+		final BottomSheetItemWithCompoundButton[] item = new BottomSheetItemWithCompoundButton[1];
+		final boolean active = !useHeightPref.getModeValue(applicationMode);
+		final View itemView = UiUtilities.getInflater(app, nightMode).inflate(
+				R.layout.elevation_preference, null, false);
+		final ImageView iconView = itemView.findViewById(R.id.icon_elevation);
+		final SwitchCompat switchButton = itemView.findViewById(R.id.switchWidget);
+		int selectedModeColor = ContextCompat.getColor(app, selectedModeColorId);
+		iconView.setImageDrawable(getContentIcon(active ?
+				optionsItem.getActiveIconId() : optionsItem.getDisabledIconId()));
+		TextView title = itemView.findViewById(android.R.id.title);
+		title.setText(getString(R.string.routing_attr_height_obstacles_name));
+		final TextView description = itemView.findViewById(android.R.id.summary);
+		description.setText(getString(R.string.routing_attr_height_obstacles_name));
+		View itemsContainer = itemView.findViewById(R.id.selectable_list_item);
+		switchButton.setChecked(!active);
+		switchButton.setFocusable(false);
+		UiUtilities.setupCompoundButton(nightMode, selectedModeColor, switchButton);
+		itemsContainer.setOnClickListener(new View.OnClickListener() {
+			@Override
+			public void onClick(View v) {
+				if (USE_HEIGHT_OBSTACLES.equals(optionsItem.getKey()) && hasReliefParameters()) {
+					FragmentManager fm = getFragmentManager();
+					if (fm != null) {
+						ElevationDateBottomSheet.showInstance(fm, applicationMode, RouteOptionsBottomSheet.this, false);
+					}
+				}
+			}
+		});
+
+		switchButton.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+			public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+				applyParameter(item[0], optionsItem);
+			}
+		});
+
+		item[0] = (BottomSheetItemWithCompoundButton) new BottomSheetItemWithCompoundButton.Builder()
+				.setCustomView(itemView)
+				.create();
+
+		return item[0];
+	}
+
 	private BaseBottomSheetItem createTimeConditionalRoutingItem(final LocalRoutingParameter optionsItem) {
 		final BottomSheetItemWithCompoundButton[] timeConditionalRoutingItem = new BottomSheetItemWithCompoundButton[1];
 		timeConditionalRoutingItem[0] = (BottomSheetItemWithCompoundButton) new BottomSheetItemWithCompoundButton.Builder()