Tracker: move handling of SET_GPS_GLOBAL_ORIGIN up

AntennaTracker/GCS_Mavlink.cpp

@@ -434,22 +434,6 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
 {
     switch (msg->msgid) {
 
-    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;
-        tracker.set_ekf_origin(ekf_origin);
-        break;
-    }
-
     // If we are currently operating as a proxy for a remote, 
     // alas we have to look inside each packet to see if it's for us or for the remote
     case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
@@ -820,6 +804,11 @@ const AP_FWVersion &GCS_MAVLINK_Tracker::get_fwver() const
     return tracker.fwver;
 }
 
+void GCS_MAVLINK_Tracker::set_ekf_origin(const Location& loc)
+{
+    tracker.set_ekf_origin(loc);
+}
+
 /* dummy methods to avoid having to link against AP_Camera */
 void AP_Camera::control_msg(mavlink_message_t const*) {}
 void AP_Camera::configure(float, float, float, float, float, float, float) {}

AntennaTracker/GCS_Mavlink.h

@@ -23,6 +23,7 @@ protected:
     AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
     AP_GPS *get_gps() const override;
     const AP_FWVersion &get_fwver() const override;
+    void set_ekf_origin(const Location& loc) override;
 
     uint8_t sysid_my_gcs() const override;