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| author | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-07-07 15:47:40 +0400 |
|---|---|---|
| committer | Pavel Kirienko <pavel.kirienko@gmail.com> | 2014-07-07 15:47:40 +0400 |
| commit | 664795c9db9a0d938cbe7221aed87755ca8de7bf (patch) | |
| tree | d7fda3146099775759ea211596c2b3f7d4f147cd | |
| parent | 72a531b018f0089c89ed40261969555fd282e459 (diff) | |
| download | px4-firmware-664795c9db9a0d938cbe7221aed87755ca8de7bf.tar.gz px4-firmware-664795c9db9a0d938cbe7221aed87755ca8de7bf.tar.bz2 px4-firmware-664795c9db9a0d938cbe7221aed87755ca8de7bf.zip | |
UAVCAN GNSS - using GNSS time to initialize the field time_gps_usec
| -rw-r--r-- | src/modules/uavcan/gnss_receiver.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/uavcan/gnss_receiver.cpp b/src/modules/uavcan/gnss_receiver.cpp index debba9fee..ba1fe5e49 100644 --- a/src/modules/uavcan/gnss_receiver.cpp +++ b/src/modules/uavcan/gnss_receiver.cpp @@ -139,7 +139,7 @@ void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uav _report.vel_ned_valid = true; _report.timestamp_time = _report.timestamp_position; - _report.time_gps_usec = msg.timestamp.husec * msg.timestamp.USEC_PER_LSB; // Convert to microseconds + _report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds _report.satellites_used = msg.sats_used; |