diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index c1cddc7d..706ebc5e 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -28,9 +28,12 @@ class CartKinematics:
         max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
         max_xy_accel = min(s.max_accel for s in self.steppers[:2])
         return max_xy_speed, max_xy_accel
-    def get_homed_position(self):
-        return [s.position_endstop + s.get_homed_offset()*s.step_dist
-                for s in self.steppers]
+    def get_homed_position(self, homing_state):
+        pos = [None]*3
+        for axis in homing_state.get_axes():
+            s = self.steppers[axis]
+            pos[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
+        return pos
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -59,6 +62,7 @@ class CartKinematics:
             # Home again
             coord[axis] = r2pos
             homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
+        homing_state.plan_calc_position(self.get_homed_position)
     def motor_off(self, move_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
diff --git a/klippy/delta.py b/klippy/delta.py
index 34b5a9e2..d54c0a3c 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -78,7 +78,7 @@ class DeltaKinematics:
         return matrix_sub(circumcenter, matrix_mul(normal, dist))
     def set_position(self, newpos):
         self.stepper_pos = self.cartesian_to_actuator(newpos)
-    def get_homed_position(self):
+    def get_homed_position(self, homing_state):
         pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset())
                * self.steppers[i].step_dist
                for i in StepList]
@@ -101,6 +101,7 @@ class DeltaKinematics:
         coord[2] -= s.homing_retract_dist
         homing_state.plan_home(list(coord), homepos, self.steppers
                                , s.homing_speed/2.0)
+        homing_state.plan_calc_position(self.get_homed_position)
     def motor_off(self, move_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:
diff --git a/klippy/homing.py b/klippy/homing.py
index 29c1a48f..b4c5290f 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -23,6 +23,8 @@ class Homing:
         self.states.append((self.do_wait_endstop, ()))
     def plan_move(self, newpos, speed):
         self.states.append((self.do_move, (newpos, speed)))
+    def plan_calc_position(self, callback):
+        self.states.append((self.do_calc_position, (callback,)))
     def plan_axes_update(self, callback):
         self.states.append((callback, (self,)))
     def check_busy(self, eventtime):
@@ -37,12 +39,11 @@ class Homing:
 
     def fill_coord(self, coord):
         # Fill in any None entries in 'coord' with current toolhead position
-        thcoord = self.toolhead.get_position()
-        coord = list(coord)
+        thcoord = list(self.toolhead.get_position())
         for i in range(len(coord)):
-            if coord[i] is None:
-                coord[i] = thcoord[i]
-        return coord
+            if coord[i] is not None:
+                thcoord[i] = coord[i]
+        return thcoord
     def do_move(self, newpos, speed):
         # Issue a move command
         self.toolhead.move(self.fill_coord(newpos), speed)
@@ -68,6 +69,8 @@ class Homing:
         # Finished
         del self.endstops[:]
         return False
+    def do_calc_position(self, callback):
+        self.toolhead.set_position(self.fill_coord(callback(self)))
 
 # Helper code for querying and reporting the status of the endstops
 class QueryEndstops:
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index bc0356dc..5248a589 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -261,13 +261,6 @@ class ToolHead:
         self.move_queue.add_move(move)
     def home(self, homing_state):
         self.kin.home(homing_state)
-        def axes_update(homing_state):
-            pos = self.get_position()
-            homepos = self.kin.get_homed_position()
-            for axis in homing_state.get_axes():
-                pos[axis] = homepos[axis]
-            self.set_position(pos)
-        homing_state.plan_axes_update(axes_update)
     def dwell(self, delay):
         self.get_last_move_time()
         self.update_move_time(delay)