diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index a2d12d89f4..a7919b9800 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -15,8 +15,24 @@ static void update_home_from_EKF()
         return;
     }
 
-    // move home to current ekf location (this will set home_state to HOME_SET)
-    set_home_to_current_location();
+    // special logic if home is set in-flight
+    if (motors.armed()) {
+        set_home_to_current_location_inflight();
+    } else {
+        // move home to current ekf location (this will set home_state to HOME_SET)
+        set_home_to_current_location();
+    }
+}
+
+// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin+ takeoff_alt_above_origin
+static void set_home_to_current_location_inflight() {
+    // get current location from EKF
+    Location temp_loc;
+    if (inertial_nav.get_location(temp_loc)) {
+        const struct Location &ekf_origin = inertial_nav.get_origin();
+        temp_loc.alt = ekf_origin.alt;
+        set_home(temp_loc);
+    }
 }
 
 // set_home_to_current_location - set home to current GPS location