Tracker: remove arguments to send_home and send_ekf_origin

AntennaTracker/GCS_Mavlink.cpp

@@ -461,11 +461,8 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
             break;
 
             case MAV_CMD_GET_HOME_POSITION:
-                send_home(tracker.ahrs.get_home());
-                Location ekf_origin;
-                if (tracker.ahrs.get_origin(ekf_origin)) {
-                    send_ekf_origin(ekf_origin);
-                }
+                send_home();
+                send_ekf_origin();
                 result = MAV_RESULT_ACCEPTED;
                 break;
 

AntennaTracker/system.cpp

@@ -158,11 +158,15 @@ void Tracker::set_home(struct Location temp)
 {
     set_home_eeprom(temp);
     current_loc = temp;
-    gcs().send_home(temp);
+
+    // check EKF origin has been set
     Location ekf_origin;
     if (ahrs.get_origin(ekf_origin)) {
-        gcs().send_ekf_origin(ekf_origin);
+        ahrs.set_home(temp);
     }
+
+    gcs().send_home();
+    gcs().send_ekf_origin();
 }
 
 void Tracker::arm_servos()