diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index fec0a3e32f..5f8182a920 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -604,9 +604,8 @@ static int32_t baro_alt;
 ////////////////////////////////////////////////////////////////////////////////
 // 3D Location vectors
 ////////////////////////////////////////////////////////////////////////////////
-// home location is stored when we have a good GPS lock and arm the copter
-// Can be reset each the copter is re-armed
-static struct   Location home;
+static const struct  Location &home = ahrs.get_home();
+
 // Current location of the copter
 static struct   Location current_loc;
 // Holds the current loaded command from the EEPROM for navigation
diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index 4bf3be16e5..fe99a0c454 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -117,10 +117,7 @@ static int32_t get_RTL_alt()
 static void init_home()
 {
     set_home_is_set(true);
-    home.id         = MAV_CMD_NAV_WAYPOINT;
-    home.lng        = g_gps->longitude;                                 // Lon * 10**7
-    home.lat        = g_gps->latitude;                                  // Lat * 10**7
-    home.alt        = 0;                                                        // Home is always 0
+    ahrs.set_home(g_gps->latitude, g_gps->longitude, 0);
 
     // Save Home to EEPROM
     // -------------------
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index cba340eca0..8c522a4840 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -645,10 +645,7 @@ static void do_set_home()
     if(command_cond_queue.p1 == 1) {
         init_home();
     } else {
-        home.id         = MAV_CMD_NAV_WAYPOINT;
-        home.lng        = command_cond_queue.lng;                                       // Lon * 10**7
-        home.lat        = command_cond_queue.lat;                                       // Lat * 10**7
-        home.alt        = 0;
+        ahrs.set_home(command_cond_queue.lat, command_cond_queue.lng, 0);
         //home_is_set 	= true;
         set_home_is_set(true);
     }