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

ArduCopter/GCS_Mavlink.cpp

@@ -1386,6 +1386,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             }
             break;
 
+        case MAV_CMD_GET_HOME_POSITION:
+            send_home(copter.ahrs.get_home());
+            break;
+
         case MAV_CMD_DO_SET_SERVO:
             if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
                 result = MAV_RESULT_ACCEPTED;

ArduCopter/commands.cpp

@@ -104,6 +104,9 @@ bool Copter::set_home(const Location& loc)
     // log ahrs home and ekf origin dataflash
     Log_Write_Home_And_Origin();
 
+    // send new home location to GCS
+    GCS_MAVLINK::send_home_all(loc);
+
     // return success
     return true;
 }