From 19ba07a3f996c80e922462f0f30b53079b27a150 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 23 Oct 2013 22:14:33 +1100
Subject: [PATCH] AP_InertialNav: updates for new GPS API

---
 libraries/AP_InertialNav/AP_InertialNav.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_InertialNav/AP_InertialNav.cpp b/libraries/AP_InertialNav/AP_InertialNav.cpp
index d1ed648aa6..3cf1b9dac0 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav.cpp
@@ -125,13 +125,13 @@ void AP_InertialNav::check_gps()
     uint32_t now = hal.scheduler->millis();
 
     // compare gps time to previous reading
-    if( _gps != NULL && _gps->time != _gps_last_time ) {
+    if( _gps != NULL && _gps->last_fix_time != _gps_last_time ) {
 
         // call position correction method
         correct_with_gps(now, _gps->longitude, _gps->latitude);
 
         // record gps time and system time of this update
-        _gps_last_time = _gps->time;
+        _gps_last_time = _gps->last_fix_time;
     }else{
         // clear position error if GPS updates stop arriving
         if (now - _gps_last_update > AP_INTERTIALNAV_GPS_TIMEOUT_MS) {
@@ -414,4 +414,4 @@ void AP_InertialNav::set_position_xy(float pos_x, float pos_y)
     _historic_xy_counter = 0;
     _hist_position_estimate_x.add(_position_base.x);
     _hist_position_estimate_y.add(_position_base.y);
-}
\ No newline at end of file
+}