diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index bec050ca9d..289eac26b0 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -314,19 +314,37 @@ public:
     // return a position relative to home in meters, North/East/Down
     // order. This will only be accurate if have_inertial_nav() is
     // true
-    virtual bool get_relative_position_NED(Vector3f &vec) const {
+    virtual bool get_relative_position_NED_home(Vector3f &vec) const {
         return false;
     }
 
+    // return a position relative to origin in meters, North/East/Down
+    // order. This will only be accurate if have_inertial_nav() is
+    // true
+    virtual bool get_relative_position_NED_origin(Vector3f &vec) const {
+        return false;
+    }
     // return a position relative to home in meters, North/East
     // order. Return true if estimate is valid
-    virtual bool get_relative_position_NE(Vector2f &vecNE) const {
+    virtual bool get_relative_position_NE_home(Vector2f &vecNE) const {
+        return false;
+    }
+
+    // return a position relative to origin in meters, North/East
+    // order. Return true if estimate is valid
+    virtual bool get_relative_position_NE_origin(Vector2f &vecNE) const {
         return false;
     }
 
     // return a Down position relative to home in meters
+    // if EKF is unavailable will return the baro altitude
+    virtual void get_relative_position_D_home(float &posD) const {
+        return;
+    }
+
+    // return a Down position relative to origin in meters
     // Return true if estimate is valid
-    virtual bool get_relative_position_D(float &posD) const {
+    virtual bool get_relative_position_D_origin(float &posD) const {
         return false;
     }
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index fc75ebd283..6c2804e24e 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -636,9 +636,9 @@ bool AP_AHRS_NavEKF::get_hagl(float &height) const
     }
 }
 
-// return a relative ground position in meters/second, North/East/Down
-// order. Must only be called if have_inertial_nav() is true
-bool AP_AHRS_NavEKF::get_relative_position_NED(Vector3f &vec) const
+// return a relative ground position to the origin in meters
+// North/East/Down order.
+bool AP_AHRS_NavEKF::get_relative_position_NED_origin(Vector3f &vec) const
 {
     switch (active_EKF_type()) {
     case EKF_TYPE_NONE:
@@ -685,9 +685,28 @@ bool AP_AHRS_NavEKF::get_relative_position_NED(Vector3f &vec) const
     }
 }
 
-// write a relative ground position estimate in meters, North/East order
+// return a relative ground position to the home in meters
+// North/East/Down order.
+bool AP_AHRS_NavEKF::get_relative_position_NED_home(Vector3f &vec) const
+{
+    Location originLLH;
+    Vector3f originNED;
+    if (!get_relative_position_NED_origin(originNED) ||
+        !get_origin(originLLH)) {
+        return false;
+    }
+
+    Vector3f offset = location_3d_diff_NED(originLLH, _home);
+
+    vec.x = originNED.x + offset.x;
+    vec.y = originNED.y + offset.y;
+    vec.z = originNED.z - offset.z;
+    return true;
+}
+
+// write a relative ground position estimate to the origin in meters, North/East order
 // return true if estimate is valid
-bool AP_AHRS_NavEKF::get_relative_position_NE(Vector2f &posNE) const
+bool AP_AHRS_NavEKF::get_relative_position_NE_origin(Vector2f &posNE) const
 {
     switch (active_EKF_type()) {
     case EKF_TYPE_NONE:
@@ -715,9 +734,30 @@ bool AP_AHRS_NavEKF::get_relative_position_NE(Vector2f &posNE) const
     }
 }
 
-// write a relative ground position in meters, Down
+// return a relative ground position to the home in meters
+// North/East order.
+bool AP_AHRS_NavEKF::get_relative_position_NE_home(Vector2f &posNE) const
+{
+    Location originLLH;
+    Vector2f originNE;
+    if (!get_relative_position_NE_origin(originNE) ||
+        !get_origin(originLLH)) {
+        return false;
+    }
+
+    Vector2f offset = location_diff(originLLH, _home);
+
+    posNE.x = originNE.x + offset.x;
+    posNE.y = originNE.y + offset.y;
+    return true;
+}
+
+// write a relative ground position estimate to the origin in meters, North/East order
+
+
+// write a relative ground position to the origin in meters, Down
 // return true if the estimate is valid
-bool AP_AHRS_NavEKF::get_relative_position_D(float &posD) const
+bool AP_AHRS_NavEKF::get_relative_position_D_origin(float &posD) const
 {
     switch (active_EKF_type()) {
     case EKF_TYPE_NONE:
@@ -744,6 +784,21 @@ bool AP_AHRS_NavEKF::get_relative_position_D(float &posD) const
     }
 }
 
+// write a relative ground position to home in meters, Down
+// will use the barometer if the EKF isn't available
+void AP_AHRS_NavEKF::get_relative_position_D_home(float &posD) const
+{
+    Location originLLH;
+    float originD;
+    if (!get_relative_position_D_origin(originD) ||
+        !get_origin(originLLH)) {
+        posD = -_baro.get_altitude();
+        return;
+    }
+
+    posD = originD - ((originLLH.alt - _home.alt) * 0.01f);
+    return;
+}
 /*
   canonicalise _ekf_type, forcing it to be 0, 2 or 3
   type 1 has been deprecated
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 098b8572e6..38c82b5a5f 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -127,15 +127,21 @@ public:
     bool have_inertial_nav(void) const;
 
     bool get_velocity_NED(Vector3f &vec) const;
-    bool get_relative_position_NED(Vector3f &vec) const;
 
-    // return the relative position in North/East order
+    // return the relative position NED to either home or origin
     // return true if the estimate is valid
-    bool get_relative_position_NE(Vector2f &posNE) const;
+    bool get_relative_position_NED_home(Vector3f &vec) const;
+    bool get_relative_position_NED_origin(Vector3f &vec) const;
 
-    // return the relative position in North/East order
+    // return the relative position NE to either home or origin
     // return true if the estimate is valid
-    bool get_relative_position_D(float &posD) const;
+    bool get_relative_position_NE_home(Vector2f &posNE) const;
+    bool get_relative_position_NE_origin(Vector2f &posNE) const;
+
+    // return the relative position down to either home or origin
+    // baro will be used for the _home relative one if the EKF isn't
+    void get_relative_position_D_home(float &posD) const;
+    bool get_relative_position_D_origin(float &posD) const;
 
     // Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops.
     // This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.