diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index c5692e729c..7ee9bc34aa 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -559,6 +559,13 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_do_set_roi(const Location &roi_loc
     return MAV_RESULT_ACCEPTED;
 }
 
+bool GCS_MAVLINK_Copter::set_home_to_current_location(bool lock) {
+    return copter.set_home_to_current_location(lock);
+}
+bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool lock) {
+    return copter.set_home(loc, lock);
+}
+
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
 {
     switch(packet.command) {
@@ -572,48 +579,6 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
 #endif
         return MAV_RESULT_UNSUPPORTED;
 
-    case MAV_CMD_DO_SET_HOME: {
-        // assume failure
-        if (is_equal(packet.param1, 1.0f)) {
-            // if param1 is 1, use current location
-            if (!copter.set_home_to_current_location(true)) {
-                return MAV_RESULT_FAILED;
-            }
-            return MAV_RESULT_ACCEPTED;
-        }
-        // ensure param1 is zero
-        if (!is_zero(packet.param1)) {
-            return MAV_RESULT_FAILED;
-        }
-        // check frame type is supported
-        if (packet.frame != MAV_FRAME_GLOBAL &&
-            packet.frame != MAV_FRAME_GLOBAL_INT &&
-            packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
-            packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
-            return MAV_RESULT_UNSUPPORTED;
-        }
-        // sanity check location
-        if (!check_latlng(packet.x, packet.y)) {
-            return MAV_RESULT_FAILED;
-        }
-        Location new_home_loc {};
-        new_home_loc.lat = packet.x;
-        new_home_loc.lng = packet.y;
-        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 (!AP::ahrs().home_is_set()) {
-                // cannot use relative altitude if home is not set
-                return MAV_RESULT_FAILED;
-            }
-            new_home_loc.alt += copter.ahrs.get_home().alt;
-        }
-        if (!copter.set_home(new_home_loc, true)) {
-            return MAV_RESULT_FAILED;
-        }
-        return MAV_RESULT_ACCEPTED;
-    }
-
     default:
         return GCS_MAVLINK::handle_command_int_packet(packet);
     }
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index c4afc604fa..53961c8d5d 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -38,6 +38,9 @@ protected:
 
     void handle_mount_message(const mavlink_message_t* msg) override;
 
+    bool set_home_to_current_location(bool lock) override;
+    bool set_home(const Location& loc, bool lock) override;
+
 private:
 
     void handleMessage(mavlink_message_t * msg) override;