From 664795c9db9a0d938cbe7221aed87755ca8de7bf Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 7 Jul 2014 15:47:40 +0400
Subject: UAVCAN GNSS - using GNSS time to initialize the field time_gps_usec

---
 src/modules/uavcan/gnss_receiver.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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;
 
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