diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h
index 2945ee16ad..de2e6e2af9 100644
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -79,7 +79,7 @@
     #endif
   #else
     #if ENABLED(DELTA)
-      #define X_HOME_POS ((X_MAX_LENGTH) * 0.5)
+      #define X_HOME_POS (X_MIN_POS + (X_MAX_LENGTH) * 0.5)
     #else
       #define X_HOME_POS (X_HOME_DIR < 0 ? X_MIN_POS : X_MAX_POS)
     #endif
@@ -95,7 +95,7 @@
     #endif
   #else
     #if ENABLED(DELTA)
-      #define Y_HOME_POS ((Y_MAX_LENGTH) * 0.5)
+      #define Y_HOME_POS (Y_MIN_POS + (Y_MAX_LENGTH) * 0.5)
     #else
       #define Y_HOME_POS (Y_HOME_DIR < 0 ? Y_MIN_POS : Y_MAX_POS)
     #endif
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 94e5b8a134..9579d3daa7 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -390,9 +390,9 @@ void calculate_volumetric_multipliers();
 /**
  * Blocking movement and shorthand functions
  */
-inline void do_blocking_move_to(float x, float y, float z, float fr_mm_s=0.0);
-inline void do_blocking_move_to_x(float x, float fr_mm_s=0.0);
-inline void do_blocking_move_to_z(float z, float fr_mm_s=0.0);
-inline void do_blocking_move_to_xy(float x, float y, float fr_mm_s=0.0);
+void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
+void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
+void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
+void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
 
 #endif //MARLIN_H
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index ac4019322a..9d4e1e0c65 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1673,7 +1673,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
  *  Plan a move to (X, Y, Z) and set the current_position
  *  The final current_position may not be the one that was requested
  */
-void do_blocking_move_to(float x, float y, float z, float fr_mm_s /*=0.0*/) {
+void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
   float old_feedrate_mm_s = feedrate_mm_s;
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1765,13 +1765,13 @@ void do_blocking_move_to(float x, float y, float z, float fr_mm_s /*=0.0*/) {
 
   feedrate_mm_s = old_feedrate_mm_s;
 }
-void do_blocking_move_to_x(float x, float fr_mm_s/*=0.0*/) {
+void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
   do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
 }
-void do_blocking_move_to_z(float z, float fr_mm_s/*=0.0*/) {
+void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
   do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
 }
-void do_blocking_move_to_xy(float x, float y, float fr_mm_s/*=0.0*/) {
+void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
   do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
 }
 
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 4eaab20729..77935e961e 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1261,15 +1261,17 @@ void kill_screen(const char* lcd_msg) {
   #if ENABLED(DELTA_CALIBRATION_MENU)
 
     static void _goto_tower_pos(const float &a) {
-      char cmd[26];
-      sprintf_P(cmd, PSTR("G1 F4000 X%i Y%i"), int(-(DELTA_PRINTABLE_RADIUS) * sin(a)), int((DELTA_PRINTABLE_RADIUS) * cos(a)));
-      enqueue_and_echo_commands_P(PSTR("G1 F8000 Z4"));
-      enqueue_and_echo_command(cmd);
+      do_blocking_move_to(
+        a < 0 ? X_HOME_POS : sin(a) * -(DELTA_PRINTABLE_RADIUS),
+        a < 0 ? Y_HOME_POS : cos(a) *  (DELTA_PRINTABLE_RADIUS),
+        4
+      );
     }
 
     static void _goto_tower_x() { _goto_tower_pos(RADIANS(120)); }
     static void _goto_tower_y() { _goto_tower_pos(RADIANS(240)); }
     static void _goto_tower_z() { _goto_tower_pos(0); }
+    static void _goto_center()  { _goto_tower_pos(-1); }
 
     static void lcd_delta_calibrate_menu() {
       START_MENU();
@@ -1278,7 +1280,7 @@ void kill_screen(const char* lcd_msg) {
       MENU_ITEM(function, MSG_DELTA_CALIBRATE_X, _goto_tower_x);
       MENU_ITEM(function, MSG_DELTA_CALIBRATE_Y, _goto_tower_y);
       MENU_ITEM(function, MSG_DELTA_CALIBRATE_Z, _goto_tower_z);
-      MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_CENTER, PSTR("G1 F8000 Z4\nG1 F4000 X0 Y0"));
+      MENU_ITEM(function, MSG_DELTA_CALIBRATE_CENTER, _goto_center);
       END_MENU();
     }