From cf5d959f1b3569d67310cd18ecf8432a91e28cbf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 21 Jun 2016 11:09:08 +0200
Subject: [PATCH] gnss.cpp: switch to relative gps timestamp

---
 src/modules/uavcan/sensors/gnss.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index f31ca0174a..b1cb428c5b 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -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.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.satellites_used = msg.sats_used;