diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index d06d9e6cea..93d333749c 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -102,21 +102,12 @@ void Rover::send_extended_status1(mavlink_channel_t chan)
 
 void Rover::send_location(mavlink_channel_t chan)
 {
-    uint32_t fix_time;
-    // if we have a GPS fix, take the time as the last fix time. That
-    // allows us to correctly calculate velocities and extrapolate
-    // positions.
-    // If we don't have a GPS fix then we are dead reckoning, and will
-    // use the current boot time as the fix time.
-    if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
-        fix_time = gps.last_fix_time_ms();
-    } else {
-        fix_time = millis();
-    }
-    const Vector3f &vel = gps.velocity();
+    const uint32_t now = AP_HAL::millis();
+    Vector3f vel;
+    ahrs.get_velocity_NED(vel);
     mavlink_msg_global_position_int_send(
         chan,
-        fix_time,
+        now,
         current_loc.lat,                    // in 1E7 degrees
         current_loc.lng,                    // in 1E7 degrees
         current_loc.alt * 10UL,             // millimeters above sea level