From 2ce2d26d52884f868ecbcb102f38cbc853c2dbf6 Mon Sep 17 00:00:00 2001
From: Holger Steinhaus <holger@steinhaus-home.de>
Date: Tue, 18 Nov 2014 14:58:04 +0100
Subject: UAVCAN: preserve original UAVCAN message timestamps

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

(limited to 'src/modules/uavcan/sensors/gnss.cpp')

diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index 24afe6aaf..a375db37f 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -92,7 +92,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 
 	auto report = ::vehicle_gps_position_s();
 
-	report.timestamp_position = hrt_absolute_time();
+	report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
 	report.lat = msg.latitude_deg_1e8 / 10;
 	report.lon = msg.longitude_deg_1e8 / 10;
 	report.alt = msg.height_msl_mm;
-- 
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