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GPS driver: Fixed implicit cast causing time logic errors. Found by @Zefz

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Lorenz Meier
2015-01-04 00:07:42 +01:00
parent 470d35aca1
commit 48a8ea7f19
1 changed files with 2 additions and 2 deletions
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src/drivers/gps/ubx.cpp
+2 -2
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@@ -828,8 +828,8 @@ UBX::payload_rx_done(void)
ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano; ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
clock_settime(CLOCK_REALTIME, &ts); clock_settime(CLOCK_REALTIME, &ts);
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this _gps_position->time_gps_usec = ((uint64_t)epoch) * 1000000ULL;
_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_timeutc.nano * 1e-3f); _gps_position->time_gps_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
} }
_gps_position->timestamp_time = hrt_absolute_time(); _gps_position->timestamp_time = hrt_absolute_time();