diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index c2db07c5f8..115387b98e 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -246,7 +246,7 @@ float AP_Baro::get_air_density_ratio(void)
 // note that this relies on read() being called regularly to get new data
 float AP_Baro::get_climb_rate(void)
 {
-    if (_hil.have_crate) {
+    if (_hil.have_alt) {
         return _hil.climb_rate;
     }
     // we use a 7 point derivative filter on the climb rate. This seems
@@ -384,6 +384,9 @@ void AP_Baro::update(void)
         if (_hil.have_alt) {
             sensors[0].altitude = _hil.altitude;
         }
+        if (_hil.have_last_update) {
+            sensors[0].last_update_ms = _hil.last_update_ms;
+        }
     }
 
     // ensure the climb rate filter is updated
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index a2d1a1894e..a110f6ab9d 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -106,7 +106,7 @@ public:
 
     // HIL (and SITL) interface, setting pressure, temperature, altitude and climb_rate
     // used by Replay
-    void setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate);
+    void setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate, uint32_t last_update_ms);
 
     // HIL variables
     struct {
@@ -114,9 +114,10 @@ public:
         float temperature;
         float altitude;
         float climb_rate;
+        uint32_t last_update_ms;
         bool updated:1;
         bool have_alt:1;
-        bool have_crate:1;
+        bool have_last_update:1;
     } _hil;
 
     // register a new sensor, claiming a sensor slot. If we are out of
diff --git a/libraries/AP_Baro/AP_Baro_HIL.cpp b/libraries/AP_Baro/AP_Baro_HIL.cpp
index 7d37479e52..a93da1cf5f 100644
--- a/libraries/AP_Baro/AP_Baro_HIL.cpp
+++ b/libraries/AP_Baro/AP_Baro_HIL.cpp
@@ -62,7 +62,7 @@ void AP_Baro::setHIL(float altitude_msl)
 /*
   set HIL pressure and temperature for an instance
  */
-void AP_Baro::setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate)
+void AP_Baro::setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate, uint32_t last_update_ms)
 {
     if (instance >= _num_sensors) {
         // invalid
@@ -74,7 +74,11 @@ void AP_Baro::setHIL(uint8_t instance, float pressure, float temperature, float
     _hil.climb_rate = climb_rate;
     _hil.updated = true;
     _hil.have_alt = true;
-    _hil.have_crate = true;
+
+    if (last_update_ms != 0) {
+        _hil.last_update_ms = last_update_ms;
+        _hil.have_last_update = true;
+    }
 }
 
 // Read the sensor