From 1d038eed047358eee30513673bbcb29bf93dd78e Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 3 Sep 2014 22:44:16 +0400
Subject: [PATCH] UAVCAN: GNSS fix message update

---
 src/modules/uavcan/sensors/gnss.cpp | 8 +++-----
 uavcan                              | 2 +-
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index 0d67aad476..24afe6aaf4 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -43,8 +43,6 @@
 #include <systemlib/err.h>
 #include <mathlib/mathlib.h>
 
-#define MM_PER_CM 			10	// Millimeters per centimeter
-
 const char *const UavcanGnssBridge::NAME = "gnss";
 
 UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
@@ -95,9 +93,9 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 	auto report = ::vehicle_gps_position_s();
 
 	report.timestamp_position = hrt_absolute_time();
-	report.lat = msg.lat_1e7;
-	report.lon = msg.lon_1e7;
-	report.alt = msg.alt_1e2 * MM_PER_CM;	// Convert from centimeter (1e2) to millimeters (1e3)
+	report.lat = msg.latitude_deg_1e8 / 10;
+	report.lon = msg.longitude_deg_1e8 / 10;
+	report.alt = msg.height_msl_mm;
 
 	report.timestamp_variance = report.timestamp_position;
 
diff --git a/uavcan b/uavcan
index c4c14c60fb..286adbcc56 160000
--- a/uavcan
+++ b/uavcan
@@ -1 +1 @@
-Subproject commit c4c14c60fbbd9acd281ee97d5bb2a4027d0ae2d9
+Subproject commit 286adbcc56c4b093143b647ec7546abb149cd53b