diff --git a/ground/openpilotgcs/src/libs/utils/homelocationutil.cpp b/ground/openpilotgcs/src/libs/utils/homelocationutil.cpp
index 4700bdb5c..0b2f4954d 100644
--- a/ground/openpilotgcs/src/libs/utils/homelocationutil.cpp
+++ b/ground/openpilotgcs/src/libs/utils/homelocationutil.cpp
@@ -44,7 +44,7 @@ HomeLocationUtil::HomeLocationUtil()
 }
 
 /*
-    /*Get world magnetic model
+    /*Get local magnetic field
      * input params: LLA
      * output params: Be
      */
diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
index 9cb7a7cc6..19a2a0426 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
@@ -919,7 +919,7 @@ void OPMapGadgetWidget::setHome(QPointF pos)
 /**
   Sets the home position on the map widget
   */
-void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitude)
+void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon, double altitude)
 {
 	if (!m_widget || !m_map)
 		return;
@@ -941,13 +941,13 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitu
     if (longitude >  180) longitude =  180;
     else
     if (longitude < -180) longitude = -180;
-    else if(altitude != altitude) altitude=0;
 
     // *********
 
-	m_home_position.coord = internals::PointLatLng(latitude, longitude);
+    m_home_position.coord = internals::PointLatLng(latitude, longitude);
+    m_home_position.altitude = altitude;
 
-	m_map->Home->SetCoord(m_home_position.coord);
+    m_map->Home->SetCoord(m_home_position.coord);
     m_map->Home->SetAltitude(altitude);
     m_map->Home->RefreshPos();
 
@@ -1659,7 +1659,15 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
 	if (!m_widget || !m_map)
 		return;
 
-    setHome(m_context_menu_lat_lon,0);
+    float altitude=0;
+    bool ok;
+
+    //Get desired HomeLocation altitude from dialog box.
+    //TODO: Populate box with altitude already in HomeLocation UAVO
+    altitude = QInputDialog::getDouble(this, tr("Set home altitude"),
+                                      tr("In [m], referenced to WGS84:"), altitude, -100, 100000, 2, &ok);
+
+    setHome(m_context_menu_lat_lon, altitude);
 
     setHomeLocationObject();  // update the HomeLocation UAVObject
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index 70e766823..63bf6e8d4 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -323,7 +323,7 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
     HomeLocation::DataFields homeLocationData = homeLocation->getData();
     homeLocationData.Latitude = LLA[0] * 1e7;
     homeLocationData.Longitude = LLA[1] * 1e7;
-    homeLocationData.Altitude = LLA[2] * 1e7;
+    homeLocationData.Altitude = LLA[2];
 
     homeLocationData.Be[0] = Be[0];
     homeLocationData.Be[1] = Be[1];