From e29dbbf15882cd64a4728b0bdf02c3394e41d079 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Oct 2018 14:27:00 +1100
Subject: [PATCH] AP_AHRS: notify and log home changes

---
 libraries/AP_AHRS/AP_AHRS_DCM.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 8845942936..33343f416f 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -22,6 +22,7 @@
  */
 #include "AP_AHRS.h"
 #include <AP_HAL/AP_HAL.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -1030,6 +1031,13 @@ void AP_AHRS_DCM::set_home(const Location &loc)
     _home = loc;
     _home.options = 0;
     _home_is_set = true;
+
+    // log ahrs home and ekf origin dataflash
+    Log_Write_Home_And_Origin();
+
+    // send new home and ekf origin to GCS
+    gcs().send_home();
+    gcs().send_ekf_origin();
 }
 
 //  a relative ground position to home in meters, Down