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gnss.cpp: switch to relative gps timestamp

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Beat Küng
2016-06-21 11:09:08 +02:00
committed by Lorenz Meier
parent 940ac5471d
commit cf5d959f1b
1 changed files with 1 additions and 1 deletions
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src/modules/uavcan/sensors/gnss.cpp
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@@ -169,7 +169,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
report.cog_rad = atan2f(report.vel_e_m_s, report.vel_n_m_s); report.cog_rad = atan2f(report.vel_e_m_s, report.vel_n_m_s);
report.vel_ned_valid = true; report.vel_ned_valid = true;
report.timestamp_time = report.timestamp; report.timestamp_time_relative = 0;
report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds
report.satellites_used = msg.sats_used; report.satellites_used = msg.sats_used;