calculate EKF position when EKF disabled

def ekf1_pos(EKF1):
  '''calculate EKF position when EKF disabled'''
  global ekf_home
  from . import mavutil
  self = mavutil.mavfile_global
  if ekf_home is None:
      if not 'GPS' in self.messages or self.messages['GPS'].Status != 3:
          return None
      ekf_home = self.messages['GPS']
      (ekf_home.Lat, ekf_home.Lng) = gps_offset(ekf_home.Lat, ekf_home.Lng, -EKF1.PE, -EKF1.PN)
  (lat,lon) = gps_offset(ekf_home.Lat, ekf_home.Lng, EKF1.PE, EKF1.PN)
  return (lat, lon)