diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 9e742ebbe4..179190fad0 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1100,6 +1100,41 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
+        case MAV_CMD_DO_SET_HOME:
+        {
+            // param1 : use current (1=use current location, 0=use specified location)
+            // param5 : latitude
+            // param6 : longitude
+            // param7 : altitude
+            result = MAV_RESULT_FAILED; // assume failure
+            if (is_equal(packet.param1,1.0f)) {
+                rover.init_home();
+            } else {
+                if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
+                    // don't allow the 0,0 position
+                    break;
+                }
+                // sanity check location
+                if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) {
+                    break;
+                }
+                Location new_home_loc {};
+                new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
+                new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
+                new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
+                rover.ahrs.set_home(new_home_loc);
+                rover.home_is_set = HOME_SET_NOT_LOCKED;
+                rover.Log_Write_Home_And_Origin();
+                GCS_MAVLINK::send_home_all(new_home_loc);
+                result = MAV_RESULT_ACCEPTED;
+                rover.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
+                                        (double)(new_home_loc.lat*1.0e-7f),
+                                        (double)(new_home_loc.lng*1.0e-7f),
+                                        (uint32_t)(new_home_loc.alt*0.01f));
+            }
+            break;
+        }
+
         case MAV_CMD_DO_START_MAG_CAL:
         case MAV_CMD_DO_ACCEPT_MAG_CAL:
         case MAV_CMD_DO_CANCEL_MAG_CAL: