diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index d8b9f218c0..0cd43a8411 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -25,6 +25,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -1157,6 +1158,13 @@ bool AP_AHRS::set_home(const Location &loc)
         return false;
     }
 
+#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
+    if (!_home_is_set) {
+        // record home is set
+        AP::logger().Write_Event(LogEvent::SET_HOME);
+    }
+#endif
+
     _home = tmp;
     _home_is_set = true;