diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index ca46800a92..347f495c96 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -638,7 +638,7 @@ void SITL_State::_fdm_input_local(void)
         Quaternion attitude;
         sitl_model->get_attitude(attitude);
         vicon->update(sitl_model->get_location(),
-                      sitl_model->get_position(),
+                      sitl_model->get_position_relhome(),
                       sitl_model->get_velocity_ef(),
                       attitude);
     }