diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index f5e64724..dcd21b55 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -334,6 +334,7 @@ bool Axis::run_closed_loop_control_loop() {
                 controller_.config_.control_mode = homing_.storedControlMode;
                 controller_.config_.input_mode = homing_.storedInputMode;
                 homing_.homing_state = HOMING_STATE_IDLE;
+                homing_.isHomed = true;
             }
         } else {
             // Check for endstop presses
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index f53ae0c1..060e3005 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -94,6 +94,7 @@ public:
         HomingState_t homing_state = HOMING_STATE_IDLE;
         Controller::ControlMode_t storedControlMode = Controller::CTRL_MODE_POSITION_CONTROL;
         Controller::InputMode_t storedInputMode = Controller::INPUT_MODE_PASSTHROUGH;
+        bool isHomed = false;
     };
 
     enum thread_signals {
@@ -272,6 +273,7 @@ public:
             make_protocol_ro_property("loop_counter", &loop_counter_),
             make_protocol_ro_property("lockin_state", &lockin_state_),
             make_protocol_ro_property("homing_state", &homing_.homing_state),
+            make_protocol_property("is_homed", &homing_.isHomed),
             make_protocol_object("config",
                 make_protocol_property("startup_motor_calibration", &config_.startup_motor_calibration),
                 make_protocol_property("startup_encoder_index_search", &config_.startup_encoder_index_search),
diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index b77d6ed1..8837bae1 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -72,6 +72,7 @@ bool Controller::home_axis() {
         input_vel_ = -config_.homing_speed;
         input_current_ = 0.0f;
 
+        axis_->homing_.isHomed = false;
         axis_->homing_.homing_state = HOMING_STATE_HOMING;
     } else {
         return false;