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Fixes 2911

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This commit is contained in:
Pavel Kirienko
2015-09-27 12:25:15 +02:00
committed by Lorenz Meier
parent fbde7b6f02
commit e2b801a323
3 changed files with 25 additions and 3 deletions
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src/modules/uavcan/sensors/gnss.cpp
+9 -1
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@@ -96,7 +96,15 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
auto report = ::vehicle_gps_position_s();
report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
/*
* FIXME HACK
* There used to be the following line of code:
* report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
* It stopped working when the time sync feature has been introduced, because it caused libuavcan
* to use an independent time source (based on hardware TIM5) instead of HRT.
* The proper solution is to be developed.
*/
report.timestamp_position = hrt_absolute_time();
report.lat = msg.latitude_deg_1e8 / 10;
report.lon = msg.longitude_deg_1e8 / 10;
report.alt = msg.height_msl_mm;