diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 39e46d4e44..3ba250fc53 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -658,7 +658,7 @@ protected:
     MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_do_sprayer(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_do_set_mode(const mavlink_command_int_t &packet);
-    MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet);
+    MAV_RESULT handle_command_get_home_position(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_debug_trap(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_int_t &packet);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 3a8acdc913..de76046e08 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4523,7 +4523,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mode(const mavlink_command_int_t &
     return _set_mode_common(_base_mode, _custom_mode);
 }
 
-MAV_RESULT GCS_MAVLINK::handle_command_get_home_position(const mavlink_command_long_t &packet)
+#if AP_AHRS_ENABLED
+MAV_RESULT GCS_MAVLINK::handle_command_get_home_position(const mavlink_command_int_t &packet)
 {
     if (!AP::ahrs().home_is_set()) {
         return MAV_RESULT_FAILED;
@@ -4539,6 +4540,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_get_home_position(const mavlink_command_l
 
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_AHRS_ENABLED
 
 MAV_RESULT GCS_MAVLINK::handle_command_debug_trap(const mavlink_command_int_t &packet)
 {
@@ -4819,10 +4821,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
         break;
     }
 
-    case MAV_CMD_GET_HOME_POSITION:
-        result = handle_command_get_home_position(packet);
-        break;
-
     default:
         result = try_command_long_as_command_int(packet, msg);
         break;
@@ -5134,6 +5132,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_mag_cal(packet);
 #endif
 
+#if AP_AHRS_ENABLED
+    case MAV_CMD_GET_HOME_POSITION:
+        return handle_command_get_home_position(packet);
+#endif
+
     case MAV_CMD_PREFLIGHT_CALIBRATION:
         return handle_command_preflight_calibration(packet, msg);