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UAVCAN GNSS - using GNSS time to initialize the field time_gps_usec

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Pavel Kirienko
2014-07-07 15:47:40 +04:00
parent 72a531b018
commit 664795c9db
1 changed files with 1 additions and 1 deletions
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src/modules/uavcan/gnss_receiver.cpp
+1 -1
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@@ -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;