diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index e74e1b9813..5edafca5d9 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -1460,7 +1460,7 @@ static void cliWaypoints(char *cmdline)
 
             if (!(validArgumentCount == 6 || validArgumentCount == 8)) {
                 cliShowParseError();
-            } else if (!(action == 0 || action == NAV_WP_ACTION_WAYPOINT || action == NAV_WP_ACTION_RTH || action == NAV_WP_ACTION_JUMP || action == NAV_WP_ACTION_HOLD_TIME || action == NAV_WP_ACTION_LAND || action == NAV_WP_ACTION_SET_POI || action == NAV_WP_ACTION_SET_HEAD) || !(flag == 0 || flag == NAV_WP_FLAG_LAST)) {
+            } else if (!(action == 0 || action == NAV_WP_ACTION_WAYPOINT || action == NAV_WP_ACTION_RTH || action == NAV_WP_ACTION_JUMP || action == NAV_WP_ACTION_HOLD_TIME || action == NAV_WP_ACTION_LAND || action == NAV_WP_ACTION_SET_POI || action == NAV_WP_ACTION_SET_HEAD) || !(flag == 0 || flag == NAV_WP_FLAG_LAST || flag == NAV_WP_FLAG_HOME)) {
                 cliShowParseError();
             } else {
                 posControl.waypointList[i].action = action;
@@ -2930,28 +2930,28 @@ static void printImu2Status(void)
     cliPrintLinef("Acc: %d", secondaryImuState.calibrationStatus.acc);
     cliPrintLinef("Mag: %d", secondaryImuState.calibrationStatus.mag);
     cliPrintLine("Calibration gains:");
-    
+
     cliPrintLinef(
-        "Gyro: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetGyro[X], 
-        secondaryImuConfig()->calibrationOffsetGyro[Y], 
+        "Gyro: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetGyro[X],
+        secondaryImuConfig()->calibrationOffsetGyro[Y],
         secondaryImuConfig()->calibrationOffsetGyro[Z]
     );
     cliPrintLinef(
-        "Acc: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetAcc[X], 
-        secondaryImuConfig()->calibrationOffsetAcc[Y], 
+        "Acc: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetAcc[X],
+        secondaryImuConfig()->calibrationOffsetAcc[Y],
         secondaryImuConfig()->calibrationOffsetAcc[Z]
     );
     cliPrintLinef(
-        "Mag: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetMag[X], 
-        secondaryImuConfig()->calibrationOffsetMag[Y], 
+        "Mag: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetMag[X],
+        secondaryImuConfig()->calibrationOffsetMag[Y],
         secondaryImuConfig()->calibrationOffsetMag[Z]
     );
     cliPrintLinef(
-        "Radius: %d %d", 
-        secondaryImuConfig()->calibrationRadiusAcc, 
+        "Radius: %d %d",
+        secondaryImuConfig()->calibrationRadiusAcc,
         secondaryImuConfig()->calibrationRadiusMag
     );
 }
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 1492451b0b..ad81703e21 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2933,8 +2933,15 @@ static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint
 {
     gpsLocation_t wpLLH;
 
-    wpLLH.lat = waypoint->lat;
-    wpLLH.lon = waypoint->lon;
+    /* Default to home position if lat & lon = 0 or HOME flag set
+     * Applicable to WAYPOINT, HOLD_TIME & LANDING WP types */
+    if ((waypoint->lat == 0 && waypoint->lon == 0) || waypoint->flag == NAV_WP_FLAG_HOME) {
+        wpLLH.lat = GPS_home.lat;
+        wpLLH.lon = GPS_home.lon;
+    } else {
+        wpLLH.lat = waypoint->lat;
+        wpLLH.lon = waypoint->lon;
+    }
     wpLLH.alt = waypoint->alt;
 
     geoConvertGeodeticToLocal(localPos, &posControl.gpsOrigin, &wpLLH, altConv);
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 6f87ce3909..a29a4485ce 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -306,6 +306,7 @@ typedef enum {
 } navWaypointHeadings_e;
 
 typedef enum {
+    NAV_WP_FLAG_HOME = 0x48,
     NAV_WP_FLAG_LAST = 0xA5
 } navWaypointFlags_e;