diff --git a/src/modules/commander/HomePosition.cpp b/src/modules/commander/HomePosition.cpp
index 26e704b0ae..35cd997af7 100644
--- a/src/modules/commander/HomePosition.cpp
+++ b/src/modules/commander/HomePosition.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +37,8 @@
 #include <lib/geo/geo.h>
 #include "commander_helper.h"
 
+using namespace time_literals;
+
 HomePosition::HomePosition(const failsafe_flags_s &failsafe_flags)
 	: _failsafe_flags(failsafe_flags)
 {
@@ -69,7 +71,7 @@ bool HomePosition::hasMovedFromCurrentHomeLocation()
 			eph = gpos.eph;
 			epv = gpos.epv;
 
-		} else if (!_failsafe_flags.gps_position_invalid) {
+		} else if (_gps_position_for_home_valid) {
 			sensor_gps_s gps;
 			_vehicle_gps_position_sub.copy(&gps);
 			const double lat = static_cast<double>(gps.lat) * 1e-7;
@@ -114,7 +116,7 @@ bool HomePosition::setHomePosition(bool force)
 		setHomePosValid();
 		updated = true;
 
-	} else if (!_failsafe_flags.gps_position_invalid) {
+	} else if (_gps_position_for_home_valid) {
 		// Set home using GNSS position
 		sensor_gps_s gps_pos;
 		_vehicle_gps_position_sub.copy(&gps_pos);
@@ -203,7 +205,7 @@ void HomePosition::setInAirHomePosition()
 			home.timestamp = hrt_absolute_time();
 			_home_position_pub.update();
 
-		} else if (!_failsafe_flags.local_position_invalid && !_failsafe_flags.gps_position_invalid) {
+		} else if (!_failsafe_flags.local_position_invalid && _gps_position_for_home_valid) {
 			// Back-compute lon, lat and alt of home position given the local home position
 			// and current positions in local and global (GNSS raw) frames
 			const vehicle_local_position_s &lpos = _local_position_sub.get();
@@ -314,6 +316,19 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
 	_local_position_sub.update();
 	_global_position_sub.update();
 
+	if (_vehicle_gps_position_sub.updated()) {
+		sensor_gps_s vehicle_gps_position;
+		_vehicle_gps_position_sub.copy(&vehicle_gps_position);
+
+		const hrt_abstime now = hrt_absolute_time();
+		const bool time = (now < vehicle_gps_position.timestamp + 1_s);
+		const bool fix = vehicle_gps_position.fix_type >= kHomePositionGPSRequiredFixType;
+		const bool eph = vehicle_gps_position.eph < kHomePositionGPSRequiredEPH;
+		const bool epv = vehicle_gps_position.epv < kHomePositionGPSRequiredEPV;
+		const bool evh = vehicle_gps_position.s_variance_m_s < kHomePositionGPSRequiredEVH;
+		_gps_position_for_home_valid = time && fix && eph && epv && evh;
+	}
+
 	const vehicle_local_position_s &lpos = _local_position_sub.get();
 	const auto &home = _home_position_pub.get();
 
@@ -328,7 +343,7 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
 	if (check_if_changed && set_automatically) {
 		const bool can_set_home_lpos_first_time = !home.valid_lpos && !_failsafe_flags.local_position_invalid;
 		const bool can_set_home_gpos_first_time = ((!home.valid_hpos || !home.valid_alt)
-				&& (!_failsafe_flags.global_position_invalid || !_failsafe_flags.gps_position_invalid));
+				&& (!_failsafe_flags.global_position_invalid || _gps_position_for_home_valid));
 		const bool can_set_home_alt_first_time = (!home.valid_alt && lpos.z_global);
 
 		if (can_set_home_lpos_first_time
diff --git a/src/modules/commander/HomePosition.hpp b/src/modules/commander/HomePosition.hpp
index 46a683530e..6b883d4e52 100644
--- a/src/modules/commander/HomePosition.hpp
+++ b/src/modules/commander/HomePosition.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -41,6 +41,11 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/failsafe_flags.h>
 
+static constexpr int kHomePositionGPSRequiredFixType = 2;
+static constexpr float kHomePositionGPSRequiredEPH = 5.f;
+static constexpr float kHomePositionGPSRequiredEPV = 10.f;
+static constexpr float kHomePositionGPSRequiredEVH = 1.f;
+
 class HomePosition
 {
 public:
@@ -75,4 +80,5 @@ private:
 	uint8_t							_heading_reset_counter{0};
 	bool							_valid{false};
 	const failsafe_flags_s					&_failsafe_flags;
+	bool							_gps_position_for_home_valid{false};
 };