Fix GNSS msg timestamp when converting from NOV-B (#22)

Co-authored-by: Kailin <[email protected]>
fixposition · May 17, 2023 · 1c9c1bf · 1c9c1bf
1 parent cfb5c74
commit 1c9c1bf
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/fixposition_driver_lib/src/helper.cpp b/fixposition_driver_lib/src/helper.cpp
@@ -27,6 +27,11 @@ void SplitMessage(std::vector<std::string>& tokens, const std::string& msg, cons
 
 void BestGnssPosToNavSatFix(const Oem7MessageHeaderMem* const header, const BESTGNSSPOSMem* const bestgnsspos,
                             NavSatFixData& navsatfix) {
+    // Header timestamp
+    navsatfix.stamp.wno = header->gps_week;
+    navsatfix.stamp.tow = header->gps_milliseconds * 1e-3;
+
+    // Data
     navsatfix.latitude = bestgnsspos->lat;
     navsatfix.longitude = bestgnsspos->lon;
     navsatfix.altitude = bestgnsspos->hgt;