Copter: move handling of SET_GPS_GLOBAL_ORIGIN up

ArduCopter/GCS_Mavlink.cpp

@@ -742,22 +742,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-    case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
-    {
-        mavlink_set_gps_global_origin_t packet;
-        mavlink_msg_set_gps_global_origin_decode(msg, &packet);
-        // sanity check location
-        if (!check_latlng(packet.latitude, packet.longitude)) {
-            break;
-        }
-        Location ekf_origin {};
-        ekf_origin.lat = packet.latitude;
-        ekf_origin.lng = packet.longitude;
-        ekf_origin.alt = packet.altitude / 10;
-        copter.set_ekf_origin(ekf_origin);
-        break;
-    }
-
     case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:    // MAV ID: 66
     {
         handle_request_data_stream(msg, false);
@@ -1767,3 +1751,9 @@ const AP_FWVersion &GCS_MAVLINK_Copter::get_fwver() const
 {
     return copter.fwver;
 }
+
+
+void GCS_MAVLINK_Copter::set_ekf_origin(const Location& loc)
+{
+    copter.set_ekf_origin(loc);
+}

ArduCopter/GCS_Mavlink.h

@@ -27,6 +27,7 @@ protected:
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
     const AP_FWVersion &get_fwver() const override;
+    void set_ekf_origin(const Location& loc) override;
 
     uint8_t sysid_my_gcs() const override;