diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 5c823ec7dd..67322108f6 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -246,6 +246,14 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
         g_gps->num_sats);
 }
 
+static void NOINLINE send_system_time(mavlink_channel_t chan)
+{
+    mavlink_msg_system_time_send(
+        chan,
+        g_gps->time_epoch_usec(),
+        hal.scheduler->millis());
+}
+
 
 #if HIL_MODE != HIL_MODE_DISABLED
 static void NOINLINE send_servo_out(mavlink_channel_t chan)
@@ -509,6 +517,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         send_gps_raw(chan);
         break;
 
+    case MSG_SYSTEM_TIME:
+        CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
+        send_system_time(chan);
+        break;
+
     case MSG_SERVO_OUT:
 #if HIL_MODE != HIL_MODE_DISABLED
         CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
@@ -951,6 +964,7 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_AHRS);
         send_message(MSG_HWSTATUS);
         send_message(MSG_RANGEFINDER);
+        send_message(MSG_SYSTEM_TIME);
     }
 }
 
diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index ebdae2a8af..269ededa1f 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -228,6 +228,7 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
 struct PACKED log_Camera {
     LOG_PACKET_HEADER;
     uint32_t gps_time;
+    uint16_t gps_week;
     int32_t  latitude;
     int32_t  longitude;
     int16_t  roll;
@@ -241,7 +242,8 @@ static void Log_Write_Camera()
 #if CAMERA == ENABLED
     struct log_Camera pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
-        gps_time    : g_gps->time,
+        gps_time    : g_gps->time_week_ms,
+        gps_week    : g_gps->time_week,
         latitude    : current_loc.lat,
         longitude   : current_loc.lng,
         roll        : (int16_t)ahrs.roll_sensor,
@@ -458,7 +460,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
     { LOG_CMD_MSG, sizeof(log_Cmd),                 
       "CMD", "BBBBBeLL",   "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
     { LOG_CAMERA_MSG, sizeof(log_Camera),                 
-      "CAM", "ILLccC",   "GPSTime,Lat,Lng,Roll,Pitch,Yaw" },
+      "CAM", "IHLLeccC",   "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
       "STRT", "BB",         "SType,CTot" },
     { LOG_CTUN_MSG, sizeof(log_Control_Tuning),     
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index 8e32a9c8df..2014c5a3fd 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -101,6 +101,7 @@ enum ap_message {
     MSG_RAW_IMU1,
     MSG_RAW_IMU3,
     MSG_GPS_RAW,
+    MSG_SYSTEM_TIME,
     MSG_SERVO_OUT,
     MSG_NEXT_WAYPOINT,
     MSG_NEXT_PARAM,