From 652b361bc07c1358f5d869cb8418b857a8135694 Mon Sep 17 00:00:00 2001
From: m <mustafagokce009@gmail.com>
Date: Mon, 5 Sep 2022 21:58:22 +0300
Subject: [PATCH] GCS_MAVLink: Send local ned home location to GCS

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index eeac6186db..f7a8ff0853 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2578,13 +2578,21 @@ void GCS_MAVLINK::send_home_position() const
 
     const Location &home = AP::ahrs().get_home();
 
+    // get home position from origin
+    Vector3f home_pos_neu_cm;
+    if (!home.get_vector_from_origin_NEU(home_pos_neu_cm)) {
+        return;
+    }
+
     const float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};
     mavlink_msg_home_position_send(
         chan,
         home.lat,
         home.lng,
         home.alt * 10,
-        0.0f, 0.0f, 0.0f,
+        home_pos_neu_cm.x * 0.01f, // position of home on x-axis in meters
+        home_pos_neu_cm.y * 0.01f, // position of home on y-axis in meters
+        home_pos_neu_cm.z * -0.01f, // position of home on z-axis in meters in NED frame
         q,
         0.0f, 0.0f, 0.0f,
         AP_HAL::micros64());