diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index 5cdd7d782a..26ab12baaa 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -169,6 +169,7 @@ struct PACKED log_Parameter {
 
 struct PACKED log_GPS {
     LOG_PACKET_HEADER;
+    uint64_t time_us;
     uint8_t  status;
     uint32_t gps_week_ms;
     uint16_t gps_week;
@@ -181,11 +182,11 @@ struct PACKED log_GPS {
     uint32_t ground_speed;
     int32_t  ground_course;
     float    vel_z;
-    uint32_t apm_time;
 };
 
 struct PACKED log_GPS2 {
     LOG_PACKET_HEADER;
+    uint64_t time_us;
     uint8_t  status;
     uint32_t gps_week_ms;
     uint16_t gps_week;
@@ -197,7 +198,6 @@ struct PACKED log_GPS2 {
     uint32_t ground_speed;
     int32_t  ground_course;
     float    vel_z;
-    uint32_t apm_time;
     uint8_t  dgps_numch;
     uint32_t dgps_age;
 };
@@ -399,6 +399,7 @@ struct PACKED log_Radio {
 
 struct PACKED log_Camera {
     LOG_PACKET_HEADER;
+    uint64_t time_us;
     uint32_t gps_time;
     uint16_t gps_week;
     int32_t  latitude;
@@ -582,7 +583,7 @@ Format characters in the format string for binary log messages
     { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
       "PARM", "QNf",        "TimeUS,Name,Value" },    \
     { LOG_GPS_MSG, sizeof(log_GPS), \
-      "GPS",  "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
+      "GPS",  "QBIHBcLLeeEef", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ" }, \
     { LOG_IMU_MSG, sizeof(log_IMU), \
       "IMU",  "QffffffIIfBB",     "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
     { LOG_MESSAGE_MSG, sizeof(log_Message), \
@@ -602,7 +603,7 @@ Format characters in the format string for binary log messages
     { LOG_RADIO_MSG, sizeof(log_Radio), \
       "RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
     { LOG_CAMERA_MSG, sizeof(log_Camera), \
-      "CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \
+      "CAM", "QHLLeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \
     { LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
       "ARSP",  "Qffcff",   "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset" }, \
     { LOG_CURRENT_MSG, sizeof(log_Current), \
@@ -617,7 +618,7 @@ Format characters in the format string for binary log messages
 // messages for more advanced boards
 #define LOG_EXTRA_STRUCTURES \
     { LOG_GPS2_MSG, sizeof(log_GPS2), \
-      "GPS2",  "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \
+      "GPS2",  "QBIHBcLLeEefBI", "TimeUS,Status,GMS,GWk,NSats,HDp,Lat,Lng,Alt,Spd,GCrs,VZ,DSc,DAg" }, \
     { LOG_IMU2_MSG, sizeof(log_IMU), \
       "IMU2",  "QffffffIIfBB",     "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
     { LOG_IMU3_MSG, sizeof(log_IMU), \
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 1499fe9080..6a28c1b5ec 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -668,6 +668,7 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
         const struct Location &loc = gps.location(i);
         struct log_GPS pkt = {
             LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
+            time_us       : hal.scheduler->micros64(),
             status        : (uint8_t)gps.status(i),
             gps_week_ms   : gps.time_week_ms(i),
             gps_week      : gps.time_week(i),
@@ -680,7 +681,6 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
             ground_speed  : (uint32_t)(gps.ground_speed(i) * 100),
             ground_course : gps.ground_course_cd(i),
             vel_z         : gps.velocity(i).z,
-            apm_time      : hal.scheduler->millis()
         };
         WriteBlock(&pkt, sizeof(pkt));
     }
@@ -689,6 +689,7 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
         const struct Location &loc2 = gps.location(i);
         struct log_GPS2 pkt2 = {
             LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG),
+            time_us       : hal.scheduler->micros64(),
             status        : (uint8_t)gps.status(i),
             gps_week_ms   : gps.time_week_ms(i),
             gps_week      : gps.time_week(i),
@@ -700,7 +701,6 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
             ground_speed  : (uint32_t)(gps.ground_speed(i)*100),
             ground_course : gps.ground_course_cd(i),
             vel_z         : gps.velocity(i).z,
-            apm_time      : hal.scheduler->millis(),
             dgps_numch    : 0,
             dgps_age      : 0
         };
@@ -1125,6 +1125,7 @@ void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, c
 
     struct log_Camera pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
+        time_us     : hal.scheduler->micros64(),
         gps_time    : gps.time_week_ms(),
         gps_week    : gps.time_week(),
         latitude    : current_loc.lat,