From e026324784409bd16a561544cb608e7089d500a0 Mon Sep 17 00:00:00 2001
From: Holger Steinhaus <holger@steinhaus-home.de>
Date: Thu, 13 Nov 2014 16:58:41 +0100
Subject: [PATCH] UAVCAN: fix mag report timestamp

---
 src/modules/uavcan/sensors/mag.cpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index a529e7e759..5cbb96433b 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -37,6 +37,7 @@
 
 #include "mag.hpp"
 
+#include <drivers/drv_hrt.h>
 #include <systemlib/err.h>
 
 static const orb_id_t MAG_TOPICS[3] = {
@@ -139,11 +140,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
 {
 	lock();
 	_report.range_ga = 1.3F;   // Arbitrary number, doesn't really mean anything
-
-	_report.timestamp = msg.getUtcTimestamp().toUSec();
-	if (_report.timestamp == 0) {
-		_report.timestamp = msg.getMonotonicTimestamp().toUSec();
-	}
+	_report.timestamp = hrt_absolute_time();
 
 	_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
 	_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;