GCS_MAVLink: add send_ekf_origin

libraries/GCS_MAVLink/GCS.cpp

@@ -34,4 +34,9 @@ void GCS::send_home(const Location &home) const
     FOR_EACH_ACTIVE_CHANNEL(send_home(home));
 }
 
+void GCS::send_ekf_origin(const Location &ekf_origin) const
+{
+    FOR_EACH_ACTIVE_CHANNEL(send_ekf_origin(ekf_origin));
+}
+
 #undef FOR_EACH_ACTIVE_CHANNEL

libraries/GCS_MAVLink/GCS.h

@@ -176,6 +176,7 @@ public:
     void send_local_position(const AP_AHRS &ahrs) const;
     void send_vibration(const AP_InertialSensor &ins) const;
     void send_home(const Location &home) const;
+    void send_ekf_origin(const Location &ekf_origin) const;
     void send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status);
     void send_servo_output_raw(bool hil);
     static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
@@ -476,6 +477,7 @@ public:
     void send_message(enum ap_message id);
     void send_mission_item_reached_message(uint16_t mission_index);
     void send_home(const Location &home) const;
+    void send_ekf_origin(const Location &ekf_origin) const;
     // push send_message() messages and queued statustext messages etc:
     void retry_deferred();
     void data_stream_send();

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1480,6 +1480,17 @@ void GCS_MAVLINK::send_home(const Location &home) const
     }
 }
 
+void GCS_MAVLINK::send_ekf_origin(const Location &ekf_origin) const
+{
+    if (HAVE_PAYLOAD_SPACE(chan, GPS_GLOBAL_ORIGIN)) {
+        mavlink_msg_gps_global_origin_send(
+            chan,
+            ekf_origin.lat,
+            ekf_origin.lng,
+            ekf_origin.alt * 10);
+    }
+}
+
 /*
   wrapper for sending heartbeat
  */