diff --git a/src/drivers/telemetry/hott/messages.cpp b/src/drivers/telemetry/hott/messages.cpp
index 67b7c52d5c..552322a108 100644
--- a/src/drivers/telemetry/hott/messages.cpp
+++ b/src/drivers/telemetry/hott/messages.cpp
@@ -295,9 +295,11 @@ build_gps_response(uint8_t *buffer, size_t *size)
 			memset(&home, 0, sizeof(home));
 			orb_copy(ORB_ID(home_position), _home_sub, &home);
 
-			_home_lat = home.lat;
-			_home_lon = home.lon;
-			_home_position_set = true;
+			if (home.valid_hpos) {
+				_home_lat = home.lat;
+				_home_lon = home.lon;
+				_home_position_set = true;
+			}
 		}
 
 		/* Distance from home */
diff --git a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
index 2c5ff1583a..bef3be7fc9 100644
--- a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
@@ -329,14 +329,14 @@ void FlightTaskAuto::_set_heading_from_mode()
 		break;
 
 	case 1: // Heading points towards home.
-		if (_sub_home_position.get().valid_hpos) {
+		if (_sub_home_position.get().valid_lpos) {
 			v = Vector2f(&_sub_home_position.get().x) - Vector2f(_position);
 		}
 
 		break;
 
 	case 2: // Heading point away from home.
-		if (_sub_home_position.get().valid_hpos) {
+		if (_sub_home_position.get().valid_lpos) {
 			v = Vector2f(_position) - Vector2f(&_sub_home_position.get().x);
 		}
 
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 31b86237e5..430475fdcb 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -162,7 +162,7 @@ public:
 	void reset_vroi() { _vroi = {}; }
 
 	bool home_alt_valid() { return (_home_pos.timestamp > 0 && _home_pos.valid_alt); }
-	bool home_position_valid() { return (_home_pos.timestamp > 0 && _home_pos.valid_alt && _home_pos.valid_hpos); }
+	bool home_position_valid() { return (_home_pos.timestamp > 0 && _home_pos.valid_alt && _home_pos.valid_hpos && _home_pos.valid_lpos); }
 
 	Geofence	&get_geofence() { return _geofence; }