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gps: use UTC timestamp when GPS fixed (#26127)

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This commit is contained in:
Tom Willow
2025-12-26 15:50:37 -09:00
committed by GitHub
parent f46fd89057
commit 1e618a7eb0
2 changed files with 14 additions and 2 deletions
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src/modules/mavlink/streams/GPS2_RAW.hpp
+7 -1
View File
@@ -68,7 +68,13 @@ private:
hrt_abstime now{}; hrt_abstime now{};
if (_sensor_gps_sub.update(&gps)) { if (_sensor_gps_sub.update(&gps)) {
msg.time_usec = gps.timestamp; if (gps.time_utc_usec > 0) {
msg.time_usec = gps.timestamp;
} else {
msg.time_usec = gps.time_utc_usec;
}
msg.fix_type = gps.fix_type; msg.fix_type = gps.fix_type;
msg.lat = static_cast<int32_t>(round(gps.latitude_deg * 1e7)); msg.lat = static_cast<int32_t>(round(gps.latitude_deg * 1e7));
msg.lon = static_cast<int32_t>(round(gps.longitude_deg * 1e7)); msg.lon = static_cast<int32_t>(round(gps.longitude_deg * 1e7));
src/modules/mavlink/streams/GPS_RAW_INT.hpp
+7 -1
View File
@@ -68,7 +68,13 @@ private:
hrt_abstime now{}; hrt_abstime now{};
if (_sensor_gps_sub.update(&gps)) { if (_sensor_gps_sub.update(&gps)) {
msg.time_usec = gps.timestamp; if (gps.time_utc_usec > 0) {
msg.time_usec = gps.timestamp;
} else {
msg.time_usec = gps.time_utc_usec;
}
msg.fix_type = gps.fix_type; msg.fix_type = gps.fix_type;
msg.lat = static_cast<int32_t>(round(gps.latitude_deg * 1e7)); msg.lat = static_cast<int32_t>(round(gps.latitude_deg * 1e7));
msg.lon = static_cast<int32_t>(round(gps.longitude_deg * 1e7)); msg.lon = static_cast<int32_t>(round(gps.longitude_deg * 1e7));