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/mag.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

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

diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index 5cbb96433..35ebee542 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -37,7 +37,6 @@
 
 #include "mag.hpp"
 
-#include <drivers/drv_hrt.h>
 #include <systemlib/err.h>
 
 static const orb_id_t MAG_TOPICS[3] = {
@@ -140,7 +139,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
 {
 	lock();
 	_report.range_ga = 1.3F;   // Arbitrary number, doesn't really mean anything
-	_report.timestamp = hrt_absolute_time();
+	_report.timestamp = msg.getMonotonicTimestamp().toUSec();
 
 	_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
 	_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
-- 
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