Fixes 2911

src/modules/uavcan/sensors/baro.cpp

@@ -159,7 +159,14 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
 {
 	baro_report report;
 
-	report.timestamp   = msg.getMonotonicTimestamp().toUSec();
+	/*
+	 * FIXME HACK
+	 * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
+	 * 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   = hrt_absolute_time();
 	report.temperature = last_temperature_kelvin - 273.15F;
 	report.pressure    = msg.static_pressure / 100.0F;  // Convert to millibar
 	report.error_count = 0;

src/modules/uavcan/sensors/gnss.cpp

@@ -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;

src/modules/uavcan/sensors/mag.cpp

@@ -146,7 +146,14 @@ 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.getMonotonicTimestamp().toUSec();
+	/*
+	 * FIXME HACK
+	 * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
+	 * 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 = hrt_absolute_time();
 
 	_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
 	_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;