That is awesome. How is the "home" position set? Is it from where it starts or do you preprogram it? Also, how is elevation determined? GPS or an on board sensor?
Home is usually set where you power up / take off at, however there are plenty of users who can report that their misconfigured home position ended up with a drone taking off at full speed towards Shenzen or the 0,0 lat/long point off Africa.
Elevation can be determined by GPS, but a barometer works better.
There are pros and cons to both-- PCB mount baros don't always respond well in settings with lots of moving air and various other nearby components that get warm-to-hot during operation.
Keep in mind for either method you also have an accelerometer, so even if GPS (or a crummy baro) provides a messy signal for altitude you can average it over a given timespan and compare that against how quickly you are accelerating upwards or downwards.
Elevation can be determined by GPS, but a barometer works better.