diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 0254a7ffd1..6b7b56cc7b 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1406,6 +1406,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			break;
 
 		case MAV_CMD_DO_CHANGE_SPEED:
+		case MAV_CMD_DO_SET_HOME:
 		case MAV_CMD_DO_SET_SERVO:
 		case MAV_CMD_DO_LAND_START:
 		case MAV_CMD_DO_TRIGGER_CONTROL:
@@ -1479,6 +1480,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 			break;
 
 		case NAV_CMD_DO_CHANGE_SPEED:
+		case NAV_CMD_DO_SET_HOME:
 		case NAV_CMD_DO_SET_SERVO:
 		case NAV_CMD_DO_LAND_START:
 		case NAV_CMD_DO_TRIGGER_CONTROL:
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index bb925f60b6..85b51dbfe0 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -113,6 +113,7 @@ MissionBlock::is_mission_item_reached()
 		}
 
 	case NAV_CMD_DO_CHANGE_SPEED:
+	case NAV_CMD_DO_SET_HOME:
 		return true;
 
 	default:
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index f247fff4c8..4961c0e206 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -275,6 +275,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, size_t
 		    missionitem.nav_cmd != NAV_CMD_DELAY &&
 		    missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
 		    missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
+		    missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
 		    missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
 		    missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
 		    missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 1a45c23123..4617e9ab22 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -71,6 +71,7 @@ enum NAV_CMD {
 	NAV_CMD_DELAY = 93,
 	NAV_CMD_DO_JUMP = 177,
 	NAV_CMD_DO_CHANGE_SPEED = 178,
+	NAV_CMD_DO_SET_HOME = 179,
 	NAV_CMD_DO_SET_SERVO = 183,
 	NAV_CMD_DO_LAND_START = 189,
 	NAV_CMD_DO_SET_ROI = 201,