Setting EKF origin through MAVLink

@ollenorelius wrote:

So I found in the patch notes for AC3.5-rc5 that Do-set-home sets EKF origin, but I can't figure out how to do it right. Mission planner does it well, but when I try to do it myself, MAVProxy gives me a response of 4 (which I assume to be fail). What special sauce is required to set EKF home?

Here's what I do in dronekit (with lat, lon, lat set to 0):

msg = vehicle.message_factory.command_long_encode(
        0, 0,    # target system, target component
        mavutil.mavlink.MAV_CMD_DO_SET_HOME, #command
        0,    #confirmation
        0,    # param 1, (1=use current location, 0=use specified location)
        0,    # param 2, unused
        0,    # param 3,unused
        0,    # param 4, unused
        lat, lon, alt)    # param 5 ~ 7 latitude, longitude, altitude

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