Delay HOME_POSITION to better simulate reality

src/comm/MockLink.cc

@@ -88,6 +88,7 @@ MockLink::MockLink(MockConfiguration* config)
     , _fileServer(NULL)
     , _sendStatusText(false)
     , _apmSendHomePositionOnEmptyList(false)
+    , _sendHomePositionDelayCount(2)
 {
     _config = config;
     if (_config) {
@@ -171,7 +172,12 @@ void MockLink::_run1HzTasks(void)
 {
     if (_mavlinkStarted && _connected) {
         _sendHeartBeat();
+        if (_sendHomePositionDelayCount > 0) {
+            // We delay home position a bit to be more realistic
+            _sendHomePositionDelayCount--;
+        } else {
             _sendHomePosition();
+        }
         if (_sendStatusText) {
             _sendStatusText = false;
             _sendStatusTextMessages();
@@ -715,6 +721,10 @@ void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode
 
 void MockLink::_sendHomePosition(void)
 {
+    // APM stack does not yet support HOME_POSITION
+
+    if (_firmwareType != MAV_AUTOPILOT_ARDUPILOTMEGA) {
+
         mavlink_message_t msg;
 
         float bogus[4];
@@ -733,6 +743,7 @@ void MockLink::_sendHomePosition(void)
                                        &bogus[0],
                 0.0f, 0.0f, 0.0f);
         respondWithMavlinkMessage(msg);
+    }
 }
 
 void MockLink::_sendGpsRawInt(void)

src/comm/MockLink.h

@@ -191,6 +191,8 @@ private:
     bool _sendStatusText;
     bool _apmSendHomePositionOnEmptyList;
 
+    int _sendHomePositionDelayCount;
+
     static float _vehicleLatitude;
     static float _vehicleLongitude;
     static float _vehicleAltitude;