diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 6125b5dabb..042d7af676 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1237,6 +1237,31 @@ Commander::set_home_position_alt_only()
 	return false;
 }
 
+void
+Commander::updateHomePositionYaw(float yaw)
+{
+	home_position_s home = _home_pub.get();
+
+	home.yaw = yaw;
+	home.timestamp = hrt_absolute_time();
+
+	_home_pub.update(home);
+}
+
+void
+Commander::checkEkfResetCounters()
+{
+	if (_attitude_sub.get().quat_reset_counter != _quat_reset_counter) {
+		const float delta_psi = matrix::Eulerf(matrix::Quatf(_attitude_sub.get().delta_q_reset)).psi();
+
+		if (!_home_pub.get().manual_home) {
+			updateHomePositionYaw(matrix::wrap_pi(_home_pub.get().yaw + delta_psi));
+		}
+
+		_quat_reset_counter = _attitude_sub.get().quat_reset_counter;
+	}
+}
+
 void
 Commander::run()
 {
@@ -2254,6 +2279,8 @@ Commander::run()
 		/* Get current timestamp */
 		const hrt_abstime now = hrt_absolute_time();
 
+		checkEkfResetCounters();
+
 		// automatically set or update home position
 		if (!_home_pub.get().manual_home) {
 			const vehicle_local_position_s &local_position = _local_position_sub.get();
@@ -4028,6 +4055,7 @@ void Commander::estimator_check()
 
 	_local_position_sub.update();
 	_global_position_sub.update();
+	_attitude_sub.update();
 
 	const vehicle_local_position_s &lpos = _local_position_sub.get();
 	const vehicle_global_position_s &gpos = _global_position_sub.get();
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 6878093e3f..90d7ba4067 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -155,6 +155,8 @@ private:
 
 	bool set_home_position();
 	bool set_home_position_alt_only();
+	void updateHomePositionYaw(float yaw);
+	void checkEkfResetCounters();
 
 	void update_control_mode();
 
@@ -360,6 +362,7 @@ private:
 	hrt_abstime	_timestamp_engine_healthy{0}; ///< absolute time when engine was healty
 
 	uint32_t	_counter{0};
+	uint8_t		_quat_reset_counter{0};
 
 	bool		_status_changed{true};
 	bool		_arm_tune_played{false};
@@ -420,6 +423,7 @@ private:
 	uORB::SubscriptionData<offboard_control_mode_s>		_offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
 	uORB::SubscriptionData<vehicle_global_position_s>	_global_position_sub{ORB_ID(vehicle_global_position)};
 	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
+	uORB::SubscriptionData<vehicle_attitude_s>		_attitude_sub{ORB_ID(vehicle_attitude)};
 
 	// Publications
 	uORB::Publication<actuator_armed_s>			_armed_pub{ORB_ID(actuator_armed)};