Rover: send home position when home is set or get-home msg received

APMrover2/GCS_Mavlink.cpp

@@ -1075,6 +1075,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             }
             break;
 
+        case MAV_CMD_GET_HOME_POSITION:
+            send_home(rover.ahrs.get_home());
+            break;
+
         case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
             if (is_equal(packet.param1,1.0f)) {
                 rover.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);

APMrover2/commands.cpp

@@ -68,6 +68,7 @@ void Rover::init_home()
     ahrs.set_home(gps.location());
 	home_is_set = true;
 	Log_Write_Home_And_Origin();
+    GCS_MAVLINK::send_home_all(gps.location());
 
 	// Save Home to EEPROM
 	mission.write_home_to_storage();

APMrover2/commands_logic.cpp

@@ -326,6 +326,7 @@ void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
         ahrs.set_home(cmd.content.location);
 		home_is_set = true;
 		Log_Write_Home_And_Origin();
+        GCS_MAVLINK::send_home_all(cmd.content.location);
 	}
 }