diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index fe56953ea9..d7d1103f99 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1717,7 +1717,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     break;
                 case MAV_FRAME_GLOBAL_INT:
                 default:
-                    loc.flags.relative_alt = false;
+                    // Copter does not support navigation to absolute altitudes. This convert the WGS84 altitude
+                    // to a home-relative altitude before passing it to the navigation controller
+                    loc.alt -= copter.ahrs.get_home().alt;
+                    loc.flags.relative_alt = true;
                     loc.flags.terrain_alt = false;
                     break;
             }