From 330961b524ad84a5dd577da5c48a0c83fd0c4952 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 2 Oct 2015 17:56:31 +0900
Subject: [PATCH] Copter: send home position when home is set or get-home msg
 received

---
 ArduCopter/GCS_Mavlink.cpp | 4 ++++
 ArduCopter/commands.cpp    | 3 +++
 2 files changed, 7 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index cef959c6a3..feaa1dd801 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1386,6 +1386,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             }
             break;
 
+        case MAV_CMD_GET_HOME_POSITION:
+            send_home(copter.ahrs.get_home());
+            break;
+
         case MAV_CMD_DO_SET_SERVO:
             if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
                 result = MAV_RESULT_ACCEPTED;
diff --git a/ArduCopter/commands.cpp b/ArduCopter/commands.cpp
index f79c50aef1..f51bb70b4b 100644
--- a/ArduCopter/commands.cpp
+++ b/ArduCopter/commands.cpp
@@ -104,6 +104,9 @@ bool Copter::set_home(const Location& loc)
     // log ahrs home and ekf origin dataflash
     Log_Write_Home_And_Origin();
 
+    // send new home location to GCS
+    GCS_MAVLINK::send_home_all(loc);
+
     // return success
     return true;
 }