Finish up follow me support

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -1088,7 +1088,7 @@ void APMFirmwarePlugin::_handleRCChannelsRaw(Vehicle* vehicle, mavlink_message_t
 
 void APMFirmwarePlugin::_sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimationCapabilities)
 {
-    if (vehicle->homePosition().isValid()) {
+    if (!vehicle->homePosition().isValid()) {
         static bool sentOnce = false;
         if (!sentOnce) {
             sentOnce = true;

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -43,7 +43,7 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
         { GUIDED_NOGPS, "Guided No GPS"},
         { SMART_RTL,    "Smart RTL"},
         { FLOWHOLD,     "Flow Hold" },
-        { FOLLOW,       "Follow Vehicle" },
+        { FOLLOW,       "Follow" },
         { ZIGZAG,       "ZigZag" },
     });
 }
@@ -136,3 +136,7 @@ bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle*
     return true;
 }
 
+void ArduCopterFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)
+{
+    _sendGCSMotionReport(vehicle, motionReport, estimatationCapabilities);
+}

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -71,6 +71,7 @@ public:
     bool    vehicleYawsToNextWaypointInMission  (const Vehicle* vehicle) const override;
     QString autoDisarmParameter                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
     bool    supportsSmartRTL                    (void) const override { return true; }
+    void    sendGCSMotionReport                 (Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) override;
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc

@@ -77,3 +77,8 @@ bool ArduRoverFirmwarePlugin::supportsNegativeThrust(Vehicle* /*vehicle*/)
 {
     return true;
 }
+
+void ArduRoverFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)
+{
+    _sendGCSMotionReport(vehicle, motionReport, estimatationCapabilities);
+}

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h

@@ -53,6 +53,7 @@ public:
     bool    supportsNegativeThrust                  (Vehicle *) final;
     bool    supportsSmartRTL                        (void) const override { return true; }
     QString offlineEditingParamFile                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Rover.OfflineEditing.params"); }
+    void    sendGCSMotionReport                     (Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) override;
 
 private:
     static bool _remapParamNameIntialized;