diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 271e912058..39e6547ad8 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -337,6 +337,18 @@ void Plane::one_second_loop()
 #endif
 
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
+
+    // update home position if soft armed and gps position has
+    // changed. Update every 5s at most
+    if (!hal.util->get_soft_armed() &&
+        gps.last_message_time_ms() - last_home_update_ms > 5000 &&
+        gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
+            last_home_update_ms = gps.last_message_time_ms();
+            update_home();
+            
+            // reset the landing altitude correction
+            auto_state.land_alt_offset = 0;
+    }
 }
 
 void Plane::log_perf_info()
@@ -481,13 +493,6 @@ void Plane::update_GPS_10Hz(void)
         }
 #endif        
 
-        if (!hal.util->get_soft_armed()) {
-            update_home();
-
-            // reset the landing altitude correction
-            auto_state.land_alt_offset = 0;
-        }
-
         // update wind estimate
         ahrs.estimate_wind();
     } else if (gps.status() < AP_GPS::GPS_OK_FIX_3D && ground_start_count != 0) {
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 88a226ca04..b5ea118e04 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -778,6 +778,9 @@ private:
         uint32_t last_trim_check;
         uint32_t last_trim_save;
     } auto_trim;
+
+    // last time home was updated while disarmed
+    uint32_t last_home_update_ms;
     
     // Camera/Antenna mount tracking and stabilisation stuff
 #if MOUNT == ENABLED