With the Here4 Base connected to the GCS, is there a way (other than writing your own software with Dronekit or Mavproxy and having a companion computer on the UAV) to use the Here4 Base GPS location as the home/RTL location? I am often flying at sea, and I need my lost link point to be the most recent controller/GCS location, not the takeoff point, which can be several miles away after flying for a while.
Should be possible. Quick search let me to this: Mav_cmd_do_set_home - MAVLink - ArduPilot Discourse