diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
index 31835f0acb..7d1fbdeb12 100644
--- a/conf/flight_plans/flight_plan.dtd
+++ b/conf/flight_plans/flight_plan.dtd
@@ -55,7 +55,8 @@ max_dist_from_home CDATA #REQUIRED
 ground_alt CDATA #REQUIRED
 security_height CDATA #REQUIRED
 alt CDATA #REQUIRED
-qfu CDATA #IMPLIED>
+qfu CDATA #IMPLIED
+home_mode_height CDATA #IMPLIED>
 
 <!ATTLIST waypoints
 utm_x0 CDATA #IMPLIED
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index 571ab05e04..2200a31631 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
 
-<flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25">
+<flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25" home_mode_height="50">
   <header>
 #include "subsystems/datalink/datalink.h"
 </header>
diff --git a/sw/airborne/subsystems/nav.c b/sw/airborne/subsystems/nav.c
index 0d0f21f7de..b13a17d342 100644
--- a/sw/airborne/subsystems/nav.c
+++ b/sw/airborne/subsystems/nav.c
@@ -394,7 +394,7 @@ void nav_home(void) {
   /** Nominal speed */
   nav_pitch = 0.;
   v_ctl_mode = V_CTL_MODE_AUTO_ALT;
-  nav_altitude = ground_alt+SECURITY_HEIGHT;
+  nav_altitude = ground_alt+HOME_MODE_HEIGHT;
   compute_dist2_to_home();
   dist2_to_wp = dist2_to_home;
   nav_set_altitude();
diff --git a/sw/tools/gen_flight_plan.ml b/sw/tools/gen_flight_plan.ml
index cd8182c6f2..58486ce4f1 100644
--- a/sw/tools/gen_flight_plan.ml
+++ b/sw/tools/gen_flight_plan.ml
@@ -757,6 +757,9 @@ let () =
       and alt = ExtXml.attrib xml "alt" in
       security_height := get_float "security_height";
       ground_alt := get_float "ground_alt";
+      let home_mode_height = try
+        max (get_float "home_mode_height") !security_height
+      with _ -> !security_height in
 
       check_altitude (float_of_string alt) xml;
 
@@ -790,6 +793,7 @@ let () =
       Xml2h.define "GROUND_ALT_CM" (sprintf "%.0f" (100.*. !ground_alt));
       Xml2h.define "SECURITY_HEIGHT" (sof !security_height);
       Xml2h.define "SECURITY_ALT" (sof (!security_height +. !ground_alt));
+      Xml2h.define "HOME_MODE_HEIGHT" (sof home_mode_height);
       Xml2h.define "MAX_DIST_FROM_HOME" (sof mdfh);
 
       let index_of_waypoints =