diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 142e53b20f0ad443f67dcb71dcb42bc02d47f673..8c47c2acd2c3cc0f63217523ea8cc1af2b46854b 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1651,9 +1651,13 @@ void UAS::setHomePosition(double lat, double lon, double alt)
     if (blockHomePositionChanges)
         return;
 
+    QString uasName = (getUASName() == "")?
+                tr("UAS") + QString::number(getUASID())
+              : getUASName();
+
     QMessageBox msgBox;
     msgBox.setIcon(QMessageBox::Warning);
-    msgBox.setText(tr("Set a new home position for vehicle %s").arg(getUASName()));
+    msgBox.setText(tr("Set a new home position for vehicle %1").arg(uasName));
     msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
     msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
     msgBox.setDefaultButton(QMessageBox::Cancel);
diff --git a/src/ui/map/QGCMapWidget.cc b/src/ui/map/QGCMapWidget.cc
index 4b90ab327760384f2a2196660f14bf94a4fe59f5..748d1c2dfbb0b1d3729ae083f4fbe32a7b896e4d 100644
--- a/src/ui/map/QGCMapWidget.cc
+++ b/src/ui/map/QGCMapWidget.cc
@@ -38,7 +38,7 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
 
     this->setContextMenuPolicy(Qt::ActionsContextMenu);
 
-    // Got to options
+    // Go to options
     QAction *guidedaction = new QAction(this);
     guidedaction->setText("Go To Here (Guided Mode)");
     connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
@@ -133,12 +133,12 @@ bool QGCMapWidget::setHomeActionTriggered()
 
     // Enter an altitude
     bool ok = false;
-    int alt = QInputDialog::getInt(this,"Altitude","Enter default altitude (in meters) of destination point for guided mode",100,0,30000,1,&ok);
+    double alt = QInputDialog::getDouble(this,"Home Altitude","Enter altitude (in meters) of new home location",0.0,0.0,30000.0,2,&ok);
     if (!ok) return false; //Use has chosen cancel. Do not send the waypoint
 
     // Create new waypoint and send it to the WPManager to send out.
-    internals::PointLatLng pos = map->FromLocalToLatLng(mousePressPos.x(), mousePressPos.y());
-    qDebug() << "Set home location sent. Lat:" << pos.Lat() << ", Lon:" << pos.Lng() << ", Alt: " << alt;
+    internals::PointLatLng pos = map->FromLocalToLatLng(contextMousePressPos.x(), contextMousePressPos.y());
+    qDebug("Set home location sent. Lat: %f, Lon: %f, Alt: %f.", pos.Lat(), pos.Lng(), alt);
 
     bool success = uasManager->setHomePositionAndNotify(pos.Lat(),pos.Lng(), alt);
 
@@ -149,6 +149,13 @@ bool QGCMapWidget::setHomeActionTriggered()
 
 void QGCMapWidget::mousePressEvent(QMouseEvent *event)
 {
+
+    // Store right-click event presses separate for context menu
+    // TODO add check if click was on map, or popup box.
+    if (event->button() == Qt::RightButton) {
+        contextMousePressPos = event->pos();
+    }
+
     mapcontrol::OPMapWidget::mousePressEvent(event);
 }
 
@@ -158,6 +165,15 @@ void QGCMapWidget::mouseReleaseEvent(QMouseEvent *event)
     mapcontrol::OPMapWidget::mouseReleaseEvent(event);
 }
 
+/*
+void QGCMapWidget::contextMenuEvent(QContextMenuEvent *event)
+{
+    // TODO Remove this method
+    qDebug() << "Context menu event triggered.";
+    mapcontrol::OPMapWidget::contextMenuEvent(event);
+}
+*/
+
 QGCMapWidget::~QGCMapWidget()
 {
     SetShowHome(false);	// doing this appears to stop the map lib crashing on exit
@@ -556,6 +572,7 @@ void QGCMapWidget::updateHomePosition(double latitude, double longitude, double
     Home->SetAltitude(altitude);
     homeAltitude = altitude;
     SetShowHome(true);                      // display the HOME position on the map
+    Home->RefreshPos();
 }
 
 void QGCMapWidget::goHome()
diff --git a/src/ui/map/QGCMapWidget.h b/src/ui/map/QGCMapWidget.h
index 48ba49618ab6596cd1eb1bdca90416f9e56e1b50..8657ede17aa6eac6a9a9876c78550d79b9b1583a 100644
--- a/src/ui/map/QGCMapWidget.h
+++ b/src/ui/map/QGCMapWidget.h
@@ -138,6 +138,8 @@ protected:
     void mouseReleaseEvent(QMouseEvent *event);
     void mouseDoubleClickEvent(QMouseEvent* event);
 
+    //void contextMenuEvent(QContextMenuEvent *);
+
     UASWaypointManager* currWPManager; ///< The current waypoint manager
     bool offlineMode;
     QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
@@ -162,6 +164,7 @@ protected:
     bool mapInitialized;                ///< Map initialized?
     float homeAltitude;                 ///< Home altitude
     QPoint mousePressPos;               ///< Mouse position when the button is released.
+    QPoint contextMousePressPos;        ///< Mouse position when context menu activated.
     int defaultGuidedAlt;               ///< Default altitude for guided mode
     UASInterface *uas;                  ///< Currently selected UAS.