From d34e5b3f429acfbd0d12de1257e31108e84db9c0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 6 Jan 2015 08:36:15 +1100
Subject: [PATCH] AP_GPS: fixed PX4 GPS driver for new upstream format
---
libraries/AP_GPS/AP_GPS_PX4.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_GPS/AP_GPS_PX4.cpp b/libraries/AP_GPS/AP_GPS_PX4.cpp
index 660ca0d23..e59fd82a2 100644
--- a/libraries/AP_GPS/AP_GPS_PX4.cpp
+++ b/libraries/AP_GPS/AP_GPS_PX4.cpp
@@ -67,12 +67,12 @@ AP_GPS_PX4::read(void)
// convert epoch timestamp back to gps epoch - evil hack until we get the genuine
// raw week information (or APM switches to Posix epoch ;-) )
- uint64_t epoch_ms = uint64_t(_gps_pos.time_gps_usec/1000.+.5);
+ uint64_t epoch_ms = uint64_t(_gps_pos.time_utc_usec/1000.+.5);
uint64_t gps_ms = epoch_ms - DELTA_POSIX_GPS_EPOCH + LEAP_MS_GPS_2014;
state.time_week = uint16_t(gps_ms / uint64_t(MS_PER_WEEK));
state.time_week_ms = uint32_t(gps_ms - uint64_t(state.time_week)*MS_PER_WEEK);
- if (_gps_pos.time_gps_usec == 0) {
+ if (_gps_pos.time_utc_usec == 0) {
// This is a work-around for https://github.com/PX4/Firmware/issues/1474
// reject position reports with invalid time, as APM adjusts it's clock after the first lock has been aquired
state.status = AP_GPS::NO_FIX;
--
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