diff --git a/backend/src/plugins/telemetry/telemetry_service_impl.h b/backend/src/plugins/telemetry/telemetry_service_impl.h
index 14e9c684b7..e152519430 100644
--- a/backend/src/plugins/telemetry/telemetry_service_impl.h
+++ b/backend/src/plugins/telemetry/telemetry_service_impl.h
@@ -1,6 +1,6 @@
 #include <future>
 
-#include "telemetry/telemetry.h" // TODO: remove this include now that it is templated
+#include "telemetry/telemetry.h"
 #include "telemetry/telemetry.grpc.pb.h"
 
 namespace dronecore {
@@ -58,6 +58,26 @@ class TelemetryServiceImpl final : public dronecore::rpc::telemetry::TelemetrySe
         return grpc::Status::OK;
     }
 
+    grpc::Status SubscribeHome(grpc::ServerContext * /* context */,
+                               const dronecore::rpc::telemetry::SubscribeHomeRequest * /* request */,
+                               grpc::ServerWriter<rpc::telemetry::HomeResponse> *writer) override
+    {
+        _telemetry.home_position_async([&writer](dronecore::Telemetry::Position position) {
+            auto rpc_position = new dronecore::rpc::telemetry::Position();
+            rpc_position->set_latitude_deg(position.latitude_deg);
+            rpc_position->set_longitude_deg(position.longitude_deg);
+            rpc_position->set_relative_altitude_m(position.relative_altitude_m);
+            rpc_position->set_absolute_altitude_m(position.absolute_altitude_m);
+
+            dronecore::rpc::telemetry::HomeResponse rpc_home_response;
+            rpc_home_response.set_allocated_home(rpc_position);
+            writer->Write(rpc_home_response);
+        });
+
+        _stop_future.wait();
+        return grpc::Status::OK;
+    }
+
     void stop()
     {
         _stop_promise.set_value();
diff --git a/backend/test/telemetry_service_impl_test.cpp b/backend/test/telemetry_service_impl_test.cpp
index d6bcc4f962..75cd613730 100644
--- a/backend/test/telemetry_service_impl_test.cpp
+++ b/backend/test/telemetry_service_impl_test.cpp
@@ -60,6 +60,9 @@ class TelemetryServiceImplTest : public ::testing::Test
     std::vector<Health> generateRandomHealthsVector(const int size);
     bool generateRandomBool();
 
+    void checkSendsHomePositions(const std::vector<Position> &home_positions);
+    std::future<void> subscribeHomeAsync(std::vector<Position> &home_positions);
+
     std::unique_ptr<grpc::Server> _server;
     std::unique_ptr<TelemetryService::Stub> _stub;
     std::unique_ptr<MockTelemetry> _telemetry;
@@ -144,7 +147,7 @@ void TelemetryServiceImplTest::checkSendsPositions(const std::vector<Position> &
 {
     std::promise<void> subscription_promise;
     auto subscription_future = subscription_promise.get_future();
-    dronecore::testing::position_callback_t position_callback;
+    dronecore::Telemetry::position_callback_t position_callback;
     EXPECT_CALL(*_telemetry, position_async(_))
     .WillOnce(SaveCallback(&position_callback, &subscription_promise));
 
@@ -256,7 +259,7 @@ void TelemetryServiceImplTest::checkSendsHealths(const std::vector<Health> &heal
 {
     std::promise<void> subscription_promise;
     auto subscription_future = subscription_promise.get_future();
-    dronecore::testing::health_callback_t health_callback;
+    dronecore::Telemetry::health_callback_t health_callback;
     EXPECT_CALL(*_telemetry, health_async(_))
     .WillOnce(SaveCallback(&health_callback, &subscription_promise));
 
@@ -273,7 +276,6 @@ void TelemetryServiceImplTest::checkSendsHealths(const std::vector<Health> &heal
     for (size_t i = 0; i < healths.size(); i++) {
         EXPECT_EQ(healths.at(i), received_healths.at(i));
     }
-
 }
 
 Health TelemetryServiceImplTest::createRandomHealth()
@@ -302,4 +304,93 @@ TEST_F(TelemetryServiceImplTest, sendsMultipleHealths)
     checkSendsHealths(health);
 }
 
+TEST_F(TelemetryServiceImplTest, registersToTelemetryHomeAsync)
+{
+    EXPECT_CALL(*_telemetry, home_position_async(_))
+    .Times(1);
+
+    std::vector<Position> home_positions;
+    auto home_stream_future = subscribeHomeAsync(home_positions);
+
+    _telemetry_service->stop();
+    home_stream_future.wait();
+}
+
+std::future<void> TelemetryServiceImplTest::subscribeHomeAsync(std::vector<Position>
+                                                               &home_positions)
+{
+    return std::async(std::launch::async, [&]() {
+        grpc::ClientContext context;
+        dronecore::rpc::telemetry::SubscribeHomeRequest request;
+        auto response_reader = _stub->SubscribeHome(&context, request);
+
+        dronecore::rpc::telemetry::HomeResponse response;
+        while (response_reader->Read(&response)) {
+            auto home_rpc = response.home();
+
+            Position home;
+            home.latitude_deg = home_rpc.latitude_deg();
+            home.longitude_deg = home_rpc.longitude_deg();
+            home.absolute_altitude_m = home_rpc.absolute_altitude_m();
+            home.relative_altitude_m = home_rpc.relative_altitude_m();
+
+            home_positions.push_back(home);
+        }
+
+        response_reader->Finish();
+    });
+}
+
+TEST_F(TelemetryServiceImplTest, doesNotSendHomeIfCallbackNotCalled)
+{
+    std::vector<Position> home_positions;
+    auto home_stream_future = subscribeHomeAsync(home_positions);
+
+    _telemetry_service->stop();
+    home_stream_future.wait();
+
+    EXPECT_EQ(0, home_positions.size());
+}
+
+TEST_F(TelemetryServiceImplTest, sendsOneHome)
+{
+    std::vector<Position> home_positions;
+    home_positions.push_back(createPosition(41.848695, 75.132751, 3002.1f, 50.3f));
+
+    checkSendsHomePositions(home_positions);
+}
+
+void TelemetryServiceImplTest::checkSendsHomePositions(const std::vector<Position> &home_positions)
+{
+    std::promise<void> subscription_promise;
+    auto subscription_future = subscription_promise.get_future();
+    dronecore::Telemetry::position_callback_t home_callback;
+    EXPECT_CALL(*_telemetry, home_position_async(_))
+    .WillOnce(SaveCallback(&home_callback, &subscription_promise));
+
+    std::vector<Position> received_home_positions;
+    auto home_stream_future = subscribeHomeAsync(received_home_positions);
+    subscription_future.wait();
+    for (const auto home_position : home_positions) {
+        home_callback(home_position);
+    }
+    _telemetry_service->stop();
+    home_stream_future.wait();
+
+    ASSERT_EQ(home_positions.size(), received_home_positions.size());
+    for (size_t i = 0; i < home_positions.size(); i++) {
+        EXPECT_EQ(home_positions.at(i), received_home_positions.at(i));
+    }
+}
+
+TEST_F(TelemetryServiceImplTest, sendsMultipleHomePositions)
+{
+    std::vector<Position> home_positions;
+    home_positions.push_back(createPosition(41.848695, 75.132751, 3002.1f, 50.3f));
+    home_positions.push_back(createPosition(46.522626, 6.635356, 542.2f, 79.8f));
+    home_positions.push_back(createPosition(-50.995944711358824, -72.99892046835936, 1217.12f, 2.52f));
+
+    checkSendsHomePositions(home_positions);
+}
+
 } // namespace
diff --git a/plugins/telemetry/mocks/telemetry_mock.h b/plugins/telemetry/mocks/telemetry_mock.h
index e8ccc3ae86..c1e86e39cd 100644
--- a/plugins/telemetry/mocks/telemetry_mock.h
+++ b/plugins/telemetry/mocks/telemetry_mock.h
@@ -1,19 +1,16 @@
 #include <gmock/gmock.h>
 
-// TODO remove this include!
 #include "telemetry/telemetry.h"
 
 namespace dronecore {
 namespace testing {
 
-typedef std::function<void(Telemetry::Position)> position_callback_t;
-typedef std::function<void(Telemetry::Health health)> health_callback_t;
-
 class MockTelemetry
 {
 public:
-    MOCK_CONST_METHOD1(position_async, void(position_callback_t));
-    MOCK_CONST_METHOD1(health_async, void(health_callback_t));
+    MOCK_CONST_METHOD1(position_async, void(Telemetry::position_callback_t));
+    MOCK_CONST_METHOD1(health_async, void(Telemetry::health_callback_t));
+    MOCK_CONST_METHOD1(home_position_async, void(Telemetry::position_callback_t));
 };
 
 } // namespace testing