diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp
index 2c78bec640..cd9f887ee0 100644
--- a/test/mavsdk_tests/autopilot_tester.cpp
+++ b/test/mavsdk_tests/autopilot_tester.cpp
@@ -42,6 +42,17 @@ void AutopilotTester::wait_until_ready_local_position_only()
 	}, std::chrono::seconds(20)));
 }
 
+void AutopilotTester::store_home()
+{
+    request_ground_truth();
+    _home = get_ground_truth_position();
+}
+
+void AutopilotTester::check_home_within(float acceptance_radius_m)
+{
+    CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
+}
+
 void AutopilotTester::set_takeoff_altitude(const float altitude_m)
 {
     CHECK(Action::Result::SUCCESS == _action->set_takeoff_altitude(altitude_m));
@@ -94,12 +105,12 @@ void AutopilotTester::wait_until_hovering()
 
 void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
 {
-    const auto ct = _get_coordinate_transformation();
+    const auto ct = get_coordinate_transformation();
 
     std::vector<std::shared_ptr<MissionItem>> mission_items {};
-    mission_items.push_back(_create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
-    mission_items.push_back(_create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct));
-    mission_items.push_back(_create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
+    mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
+    mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m}, mission_options, ct));
+    mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
 
     _mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
 
@@ -132,7 +143,7 @@ void AutopilotTester::execute_mission()
     REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
 }
 
-CoordinateTransformation AutopilotTester::_get_coordinate_transformation()
+CoordinateTransformation AutopilotTester::get_coordinate_transformation()
 {
     const auto home = _telemetry->home_position();
     REQUIRE(std::isfinite(home.latitude_deg));
@@ -140,7 +151,7 @@ CoordinateTransformation AutopilotTester::_get_coordinate_transformation()
     return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
 }
 
-std::shared_ptr<MissionItem>  AutopilotTester::_create_mission_item(
+std::shared_ptr<MissionItem>  AutopilotTester::create_mission_item(
     const CoordinateTransformation::LocalCoordinate& local_coordinate,
     const MissionOptions& mission_options,
     const CoordinateTransformation& ct)
diff --git a/test/mavsdk_tests/autopilot_tester.h b/test/mavsdk_tests/autopilot_tester.h
index 9ce340d280..3b0b6d8bf7 100644
--- a/test/mavsdk_tests/autopilot_tester.h
+++ b/test/mavsdk_tests/autopilot_tester.h
@@ -27,6 +27,8 @@ public:
     void connect(const std::string uri);
     void wait_until_ready();
     void wait_until_ready_local_position_only();
+    void store_home();
+    void check_home_within(float acceptance_radius_m);
     void set_takeoff_altitude(const float altitude_m);
     void arm();
     void takeoff();
@@ -41,25 +43,28 @@ public:
     void offboard_goto(const Offboard::PositionNEDYaw& target, float acceptance_radius = 0.3f,
                        std::chrono::seconds timeout_duration = std::chrono::seconds(60));
     void offboard_land();
-    bool estimated_position_close_to(const Offboard::PositionNEDYaw& target_position, float acceptance_radius_m);
-    bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m);
     void request_ground_truth();
-    Telemetry::GroundTruth get_ground_truth_position();
-    bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m);
 
 
 private:
-    mavsdk::geometry::CoordinateTransformation _get_coordinate_transformation();
-    std::shared_ptr<mavsdk::MissionItem> _create_mission_item(
+    mavsdk::geometry::CoordinateTransformation get_coordinate_transformation();
+    std::shared_ptr<mavsdk::MissionItem> create_mission_item(
         const mavsdk::geometry::CoordinateTransformation::LocalCoordinate& local_coordinate,
         const MissionOptions& mission_options,
         const mavsdk::geometry::CoordinateTransformation& ct);
+    Telemetry::GroundTruth get_ground_truth_position();
+
+    bool ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth& target_pos, float acceptance_radius_m);
+    bool estimated_position_close_to(const Offboard::PositionNEDYaw& target_position, float acceptance_radius_m);
+    bool estimated_horizontal_position_close_to(const Offboard::PositionNEDYaw& target_pos, float acceptance_radius_m);
 
     mavsdk::Mavsdk _mavsdk{};
     std::unique_ptr<mavsdk::Telemetry> _telemetry{};
     std::unique_ptr<mavsdk::Action> _action{};
     std::unique_ptr<mavsdk::Mission> _mission{};
     std::unique_ptr<mavsdk::Offboard> _offboard{};
+
+    Telemetry::GroundTruth _home{NAN, NAN, NAN};
 };
 
 template<typename Rep, typename Period>
diff --git a/test/mavsdk_tests/test_multicopter_offboard.cpp b/test/mavsdk_tests/test_multicopter_offboard.cpp
index 89552c8141..18430b2727 100644
--- a/test/mavsdk_tests/test_multicopter_offboard.cpp
+++ b/test/mavsdk_tests/test_multicopter_offboard.cpp
@@ -17,13 +17,12 @@ TEST_CASE("Takeoff and Land (Multicopter offboard)", "[multicopter_offboard]")
     Offboard::PositionNEDYaw takeoff_position {0.0f, 0.0f, -2.0f, 0.0f};
     tester.connect(connection_url);
     tester.wait_until_ready_local_position_only();
-    tester.request_ground_truth();
-    Telemetry::GroundTruth home = tester.get_ground_truth_position();
+    tester.store_home();
     tester.arm();
     tester.offboard_goto(takeoff_position, 0.5f);
     tester.offboard_land();
     tester.wait_until_disarmed();
-    REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 0.5f));
+    tester.check_home_within(0.5f);
 }
 
 TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
@@ -35,8 +34,7 @@ TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
     Offboard::PositionNEDYaw setpoint_3 {5.0f, 0.0f, -4.0f, 90.0f};
     tester.connect(connection_url);
     tester.wait_until_ready_local_position_only();
-    tester.request_ground_truth();
-    Telemetry::GroundTruth home = tester.get_ground_truth_position();
+    tester.store_home();
     tester.arm();
     tester.offboard_goto(takeoff_position, 0.5f);
     tester.offboard_goto(setpoint_1, 1.0f);
@@ -45,5 +43,5 @@ TEST_CASE("Mission (Multicopter offboard )", "[multicopter_offboard]")
     tester.offboard_goto(takeoff_position, 0.2f);
     tester.offboard_land();
     tester.wait_until_disarmed();
-    REQUIRE(tester.ground_truth_horizontal_position_close_to(home, 1.0f));
+    tester.check_home_within(1.0f);
 }