diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index c129208fab..7b8f94cc4a 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -320,6 +320,18 @@ VtolAttitudeControl::Run()
 		_airspeed_validated_sub.update(&_airspeed_validated);
 		_tecs_status_sub.update(&_tecs_status);
 		_land_detected_sub.update(&_land_detected);
+
+		if (_home_position_sub.updated()) {
+			home_position_s home_position;
+
+			if (_home_position_sub.copy(&home_position) && home_position.valid_alt) {
+				_home_position_z = home_position.z;
+
+			} else {
+				_home_position_z = NAN;
+			}
+		}
+
 		vehicle_status_poll();
 		action_request_poll();
 		vehicle_cmd_poll();
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 2c96f3a385..2f79a185bf 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -67,6 +67,7 @@
 #include <uORB/topics/action_request.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed_validated.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/position_setpoint_triplet.h>
@@ -153,6 +154,7 @@ public:
 	struct vehicle_thrust_setpoint_s 		*get_thrust_setpoint_0() {return &_thrust_setpoint_0;}
 	struct vehicle_thrust_setpoint_s 		*get_thrust_setpoint_1() {return &_thrust_setpoint_1;}
 	struct vtol_vehicle_status_s			*get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
+	float get_home_position_z() { return _home_position_z; }
 
 private:
 	void Run() override;
@@ -165,6 +167,7 @@ private:
 	uORB::Subscription _action_request_sub{ORB_ID(action_request)};
 	uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
 	uORB::Subscription _fw_virtual_att_sp_sub{ORB_ID(fw_virtual_attitude_setpoint)};
+	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
 	uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
 	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
@@ -212,6 +215,7 @@ private:
 	vehicle_local_position_setpoint_s	_local_pos_sp{};
 	vehicle_status_s 			_vehicle_status{};
 	vtol_vehicle_status_s 			_vtol_vehicle_status{};
+	float _home_position_z{NAN};
 
 	float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C};	// [kg/m^3]
 
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 2c8e7e4265..b5b28448bc 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -286,11 +286,19 @@ void VtolType::check_quadchute_condition()
 
 float VtolType::pusher_assist()
 {
-	// Altitude above ground is distance sensor altitude if available, otherwise local z-position
-	float dist_to_ground = -_local_pos->z;
+	// Altitude above ground is local z-position or altitude above home or distance sensor altitude depending on what's available
+	float dist_to_ground = 0.f;
+	const float home_position_z = _attc->get_home_position_z();
 
 	if (_local_pos->dist_bottom_valid) {
 		dist_to_ground = _local_pos->dist_bottom;
+
+	} else if (PX4_ISFINITE(home_position_z)) {
+		dist_to_ground = -(_local_pos->z - home_position_z);
+
+	} else {
+		dist_to_ground = -_local_pos->z;
+
 	}
 
 	// disable pusher assist depending on setting of forward_thrust_enable_mode:
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 8bc1a27b80..5ae921722c 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -188,7 +188,7 @@ protected:
 	struct actuator_controls_s			*_actuators_fw_in;			//actuator controls from fw_att_control
 	struct vehicle_local_position_s			*_local_pos;
 	struct vehicle_local_position_setpoint_s	*_local_pos_sp;
-	struct airspeed_validated_s 				*_airspeed_validated;					// airspeed
+	struct airspeed_validated_s 			*_airspeed_validated;					// airspeed
 	struct tecs_status_s				*_tecs_status;
 	struct vehicle_land_detected_s			*_land_detected;