diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index d28246639a..ca35d80078 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -55,8 +55,6 @@ set(msg_file_names
 	esc_report.msg
 	esc_status.msg
 	estimator_status.msg
-	fence.msg
-	fence_vertex.msg
 	filtered_bottom_flow.msg
 	follow_target.msg
 	fw_pos_ctrl_status.msg
diff --git a/msg/fence.msg b/msg/fence.msg
deleted file mode 100644
index 4109a0c8fe..0000000000
--- a/msg/fence.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-uint8 GEOFENCE_MAX_VERTICES = 16
-
-uint32 count    			# number of actual vertices
-fence_vertex[16] vertices		# geofence positions
diff --git a/msg/fence_vertex.msg b/msg/fence_vertex.msg
deleted file mode 100644
index 2e524f9697..0000000000
--- a/msg/fence_vertex.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-float32 lat	# latitude in degrees, worst case float precision gives us 2 meter resolution at the equator
-float32 lon	# longitude in degrees, worst case float precision gives us 2 meter resolution at the equator
diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h
index 32bc59d6f5..d9d524fbf4 100644
--- a/src/modules/dataman/dataman.h
+++ b/src/modules/dataman/dataman.h
@@ -66,11 +66,7 @@ typedef enum {
 #if defined(MEMORY_CONSTRAINED_SYSTEM)
 enum {
 	DM_KEY_SAFE_POINTS_MAX = 8,
-#ifdef __cplusplus
-	DM_KEY_FENCE_POINTS_MAX = fence_s::GEOFENCE_MAX_VERTICES,
-#else
-	DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
-#endif
+	DM_KEY_FENCE_POINTS_MAX = 16,
 	DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
 	DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
 	DM_KEY_WAYPOINTS_ONBOARD_MAX = (NUM_MISSIONS_SUPPORTED / 10),
@@ -81,11 +77,7 @@ enum {
 /** The maximum number of instances for each item type */
 enum {
 	DM_KEY_SAFE_POINTS_MAX = 8,
-#ifdef __cplusplus
-	DM_KEY_FENCE_POINTS_MAX = fence_s::GEOFENCE_MAX_VERTICES,
-#else
-	DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
-#endif
+	DM_KEY_FENCE_POINTS_MAX = 64,
 	DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
 	DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
 	DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 931ab8173a..8918983f7f 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -237,7 +237,6 @@ Geofence::addPoint(int argc, char *argv[])
 
 	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
 		dm_clear(DM_KEY_FENCE_POINTS);
-		publishFence(0);
 		return;
 	}
 
@@ -265,7 +264,6 @@ Geofence::addPoint(int argc, char *argv[])
 
 	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
 		if (last) {
-			publishFence((unsigned)ix + 1);
 		}
 
 		return;
@@ -274,16 +272,6 @@ Geofence::addPoint(int argc, char *argv[])
 	PX4_WARN("can't store fence point");
 }
 
-void
-Geofence::publishFence(unsigned vertices)
-{
-	if (_fence_pub == nullptr) {
-		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
-
-	} else {
-		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
-	}
-}
 
 int
 Geofence::loadFromFile(const char *filename)
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 25ba9b2a8a..f329282db6 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -43,6 +43,11 @@
 
 #include <cfloat>
 
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/home_position.h>
+#include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 #include <controllib/blocks.hpp>
 #include <drivers/drv_hrt.h>
@@ -99,8 +104,6 @@ public:
 	 */
 	void addPoint(int argc, char *argv[]);
 
-	void publishFence(unsigned vertices);
-
 	int loadFromFile(const char *filename);
 
 	bool isEmpty() {return _vertices_count == 0;}
@@ -114,7 +117,8 @@ public:
 private:
 	Navigator	*_navigator{nullptr};
 
-	orb_advert_t	_fence_pub{nullptr};			/**< publish fence topic */
+	home_position_s _home_pos{0};
+	bool _home_pos_set{false};
 
 	hrt_abstime _last_horizontal_range_warning{0};
 	hrt_abstime _last_vertical_range_warning{0};