From 4628c66529db9e4fc6fcf36a2dbbf07549d06ea5 Mon Sep 17 00:00:00 2001
From: Kurt Nistelberger <kurt.nistelberger@gmail.com>
Date: Wed, 21 Dec 2022 13:28:50 -0800
Subject: [PATCH] change time

---
 selfdrive/locationd/locationd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 7373899b3f..314472359b 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -423,7 +423,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
     this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
   }
 
-  this->last_gps_msg = current_time;
+  this->last_gps_msg = sensor_time;
   this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
   this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
 }