From 8f5ec2679c8ca2088680d16e2ff034d5b3159c90 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Thu, 18 Aug 2016 19:27:06 +0200
Subject: [PATCH] LP-385 - add supports for fractional part of second in gps
 time

---
 flight/modules/GPS/UBX.c               | 2 +-
 shared/uavobjectdefinition/gpstime.xml | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/flight/modules/GPS/UBX.c b/flight/modules/GPS/UBX.c
index 19ad46127..e25f3d5dc 100644
--- a/flight/modules/GPS/UBX.c
+++ b/flight/modules/GPS/UBX.c
@@ -439,7 +439,7 @@ static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, __attribute__((unused))
         GpsTime.Hour   = timeutc->hour;
         GpsTime.Minute = timeutc->min;
         GpsTime.Second = timeutc->sec;
-
+        GpsTime.MilliSecond = (int16_t)timeutc->nano / 1000000;
         GPSTimeSet(&GpsTime);
     } else {
         // Time is not valid, nothing to do
diff --git a/shared/uavobjectdefinition/gpstime.xml b/shared/uavobjectdefinition/gpstime.xml
index 1408ba2d8..665d9c45e 100644
--- a/shared/uavobjectdefinition/gpstime.xml
+++ b/shared/uavobjectdefinition/gpstime.xml
@@ -7,6 +7,7 @@
         <field name="Hour" units="" type="int8" elements="1"/>
         <field name="Minute" units="" type="int8" elements="1"/>
         <field name="Second" units="" type="int8" elements="1"/>
+        <field name="MilliSecond" units="" type="int16" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="10000"/>