diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
index 3220b55452..90800f67f9 100644
--- a/APMrover2/AP_Arming.cpp
+++ b/APMrover2/AP_Arming.cpp
@@ -1,11 +1,6 @@
 #include "AP_Arming.h"
 #include "Rover.h"
 
-enum HomeState AP_Arming_Rover::home_status() const
-{
-    return rover.home_is_set;
-}
-
 // perform pre_arm_rc_checks checks
 bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
 {
diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h
index 0b1af5e93b..a49299c798 100644
--- a/APMrover2/AP_Arming.h
+++ b/APMrover2/AP_Arming.h
@@ -25,7 +25,6 @@ public:
     bool gps_checks(bool display_failure) override;
 
 protected:
-    enum HomeState home_status() const override;
     bool fence_checks(bool report);
     bool proximity_check(bool report);
 
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index a7c1e68648..3f9105f6e6 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -691,7 +691,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
             new_home_loc.alt = packet.z * 100;
             // handle relative altitude
             if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
-                if (rover.home_is_set == HOME_UNSET) {
+                if (!rover.ahrs.home_is_set()) {
                     // cannot use relative altitude if home is not set
                     break;
                 }
@@ -892,7 +892,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_GET_HOME_POSITION:
-            if (rover.home_is_set != HOME_UNSET) {
+            if (AP::ahrs().home_is_set()) {
                 send_home(rover.ahrs.get_home());
                 Location ekf_origin;
                 if (rover.ahrs.get_origin(ekf_origin)) {
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 1014eb4043..9c63963b95 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -231,7 +231,7 @@ void Rover::Log_Write_Home_And_Origin()
 #endif
 
     // log ahrs home if set
-    if (home_is_set != HOME_UNSET) {
+    if (ahrs.home_is_set()) {
         DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
     }
 }
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index de31e13cde..5f1b61b983 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -316,9 +316,6 @@ private:
     // The home location used for RTL.  The location is set when we first get stable GPS lock
     const struct Location &home;
 
-    // Flag for if we have g_gps lock and have set the home location in AHRS
-    enum HomeState home_is_set = HOME_UNSET;
-
     // true if the system time has been set from the GPS
     bool system_time_set;
 
diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index 2a48527670..03b968d321 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -4,7 +4,7 @@
 void Rover::update_home_from_EKF()
 {
     // exit immediately if home already set
-    if (home_is_set != HOME_UNSET) {
+    if (ahrs.home_is_set()) {
         return;
     }
 
@@ -50,9 +50,9 @@ bool Rover::set_home(const Location& loc, bool lock)
     ahrs.set_home(loc);
 
     // init compass declination
-    if (home_is_set == HOME_UNSET) {
+    if (!ahrs.home_is_set()) {
         // record home is set
-        home_is_set = HOME_SET_NOT_LOCKED;
+        ahrs.set_home_status(HOME_SET_NOT_LOCKED);
 
         // log new home position which mission library will pull from ahrs
         if (should_log(MASK_LOG_CMD)) {
@@ -65,7 +65,7 @@ bool Rover::set_home(const Location& loc, bool lock)
 
     // lock home position
     if (lock) {
-        home_is_set = HOME_SET_AND_LOCKED;
+        ahrs.set_home_status(HOME_SET_AND_LOCKED);
     }
 
     // Save Home to EEPROM
@@ -143,7 +143,7 @@ void Rover::set_system_time_from_GPS()
 */
 void Rover::update_home()
 {
-    if (home_is_set == HOME_SET_NOT_LOCKED) {
+    if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
         Location loc;
         if (ahrs.get_position(loc)) {
             if (get_distance(loc, ahrs.get_home()) > DISTANCE_HOME_MAX) {