diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index c32f5802a81d6a..8c134004655e77 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -44,7 +44,7 @@ void Plane::check_home_alt_change(void)
             next_WP_loc.alt += alt_change_cm;
         }
         // reset TECS to force the field elevation estimate to reset
-        TECS_controller.reset();
+        TECS_controller.offset_altitude(alt_change_cm);
     }
     auto_state.last_home_alt_cm = home_alt_cm;
 }