diff --git a/src/modules/commander/HomePosition.cpp b/src/modules/commander/HomePosition.cpp
index 35cd997af7..0f9766bebb 100644
--- a/src/modules/commander/HomePosition.cpp
+++ b/src/modules/commander/HomePosition.cpp
@@ -72,19 +72,14 @@ bool HomePosition::hasMovedFromCurrentHomeLocation()
 			epv = gpos.epv;
 
 		} else if (_gps_position_for_home_valid) {
-			sensor_gps_s gps;
-			_vehicle_gps_position_sub.copy(&gps);
-			const double lat = static_cast<double>(gps.lat) * 1e-7;
-			const double lon = static_cast<double>(gps.lon) * 1e-7;
-			const float alt = static_cast<float>(gps.alt) * 1e-3f;
 
 			get_distance_to_point_global_wgs84(_home_position_pub.get().lat, _home_position_pub.get().lon,
 							   _home_position_pub.get().alt,
-							   lat, lon, alt,
+							   _gps_lat, _gps_lon, _gps_alt,
 							   &home_dist_xy, &home_dist_z);
 
-			eph = gps.eph;
-			epv = gps.epv;
+			eph = _gps_eph;
+			epv = _gps_epv;
 		}
 	}
 
@@ -118,12 +113,7 @@ bool HomePosition::setHomePosition(bool force)
 
 	} else if (_gps_position_for_home_valid) {
 		// Set home using GNSS position
-		sensor_gps_s gps_pos;
-		_vehicle_gps_position_sub.copy(&gps_pos);
-		const double lat = static_cast<double>(gps_pos.lat) * 1e-7;
-		const double lon = static_cast<double>(gps_pos.lon) * 1e-7;
-		const float alt = static_cast<float>(gps_pos.alt) * 1e-3f;
-		fillGlobalHomePos(home, lat, lon, alt);
+		fillGlobalHomePos(home, _gps_lat, _gps_lon, _gps_alt);
 		setHomePosValid();
 		updated = true;
 
@@ -209,20 +199,14 @@ void HomePosition::setInAirHomePosition()
 			// Back-compute lon, lat and alt of home position given the local home position
 			// and current positions in local and global (GNSS raw) frames
 			const vehicle_local_position_s &lpos = _local_position_sub.get();
-			sensor_gps_s gps;
-			_vehicle_gps_position_sub.copy(&gps);
 
-			const double lat = static_cast<double>(gps.lat) * 1e-7;
-			const double lon = static_cast<double>(gps.lon) * 1e-7;
-			const float alt = static_cast<float>(gps.alt) * 1e-3f;
-
-			MapProjection ref_pos{lat, lon};
+			MapProjection ref_pos{_gps_lat, _gps_lon};
 
 			double home_lat;
 			double home_lon;
 			ref_pos.reproject(home.x - lpos.x, home.y - lpos.y, home_lat, home_lon);
 
-			const float home_alt = alt + home.z;
+			const float home_alt = _gps_alt + home.z;
 			fillGlobalHomePos(home, home_lat, home_lon, home_alt);
 
 			setHomePosValid();
@@ -320,6 +304,12 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
 		sensor_gps_s vehicle_gps_position;
 		_vehicle_gps_position_sub.copy(&vehicle_gps_position);
 
+		_gps_lat = static_cast<double>(vehicle_gps_position.lat) * 1e-7;
+		_gps_lon = static_cast<double>(vehicle_gps_position.lon) * 1e-7;
+		_gps_alt = static_cast<float>(vehicle_gps_position.alt) * 1e-3f;
+		_gps_eph = vehicle_gps_position.eph;
+		_gps_epv = vehicle_gps_position.epv;
+
 		const hrt_abstime now = hrt_absolute_time();
 		const bool time = (now < vehicle_gps_position.timestamp + 1_s);
 		const bool fix = vehicle_gps_position.fix_type >= kHomePositionGPSRequiredFixType;
diff --git a/src/modules/commander/HomePosition.hpp b/src/modules/commander/HomePosition.hpp
index 6b883d4e52..8456ddb6b8 100644
--- a/src/modules/commander/HomePosition.hpp
+++ b/src/modules/commander/HomePosition.hpp
@@ -81,4 +81,9 @@ private:
 	bool							_valid{false};
 	const failsafe_flags_s					&_failsafe_flags;
 	bool							_gps_position_for_home_valid{false};
+	double							_gps_lat{0};
+	double							_gps_lon{0};
+	float							_gps_alt{0.f};
+	float							_gps_eph{0.f};
+	float							_gps_epv{0.f};
 };