diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 7784c94adb..a0d3a6077a 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -667,6 +667,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 }
             break;
 
+            case MAV_CMD_GET_HOME_POSITION:
+                send_home(tracker.ahrs.get_home());
+                break;
+
             case MAV_CMD_DO_SET_MODE:
                 switch ((uint16_t)packet.param1) {
                     case MAV_MODE_MANUAL_ARMED:
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 993da9eec5..06ad17832b 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -165,6 +165,7 @@ void Tracker::set_home(struct Location temp)
 {
     set_home_eeprom(temp);
     current_loc = temp;
+    GCS_MAVLINK::send_home_all(temp);
 }
 
 void Tracker::arm_servos()