Tracker: let GCS_MAVLink handle get_home_position

AntennaTracker/AntennaTracker.cpp

@@ -106,6 +106,15 @@ void Tracker::one_second_loop()
         }
         one_second_counter = 0;
     }
+
+    if (!ahrs.home_is_set()) {
+        // set home to current location
+        Location temp_loc;
+        if (ahrs.get_location(temp_loc)) {
+            set_home(temp_loc);
+        }
+        return;
+    }
 }
 
 void Tracker::ten_hz_logging_loop()

AntennaTracker/GCS_Mavlink.cpp

@@ -460,12 +460,6 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
                 }
             break;
 
-            case MAV_CMD_GET_HOME_POSITION:
-                send_home();
-                send_ekf_origin();
-                result = MAV_RESULT_ACCEPTED;
-                break;
-
             case MAV_CMD_DO_SET_SERVO:
                 if (tracker.servo_test_set_servo(packet.param1, packet.param2)) {
                     result = MAV_RESULT_ACCEPTED;

AntennaTracker/system.cpp

@@ -163,6 +163,7 @@ void Tracker::set_home(struct Location temp)
     Location ekf_origin;
     if (ahrs.get_origin(ekf_origin)) {
         ahrs.set_home(temp);
+        ahrs.set_home_status(HOME_SET_NOT_LOCKED);
     }
 
     gcs().send_home();