diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index a98af22e98..571b6d843a 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -309,7 +309,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 
     mavlink_msg_gps_raw_int_send(
         chan,
-        micros(),
+        g_gps->last_fix_time*(uint64_t)1000,
         fix,
         g_gps->latitude,      // in 1E7 degrees
         g_gps->longitude,     // in 1E7 degrees
@@ -323,7 +323,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 #else // MAVLINK10
     mavlink_msg_gps_raw_send(
         chan,
-        micros(),
+        g_gps->last_fix_time*(uint64_t)1000,
         g_gps->status(),
         g_gps->latitude / 1.0e7,
         g_gps->longitude / 1.0e7,
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 525c30d71b..8002d0fdb4 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -345,7 +345,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 
     mavlink_msg_gps_raw_int_send(
         chan,
-        micros(),
+        g_gps->last_fix_time*(uint64_t)1000,
         fix,
         g_gps->latitude,      // in 1E7 degrees
         g_gps->longitude,     // in 1E7 degrees
@@ -359,7 +359,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 #else // MAVLINK10
         mavlink_msg_gps_raw_send(
             chan,
-            micros(),
+            g_gps->last_fix_time*(uint64_t)1000,
             g_gps->status(),
             g_gps->latitude / 1.0e7,
             g_gps->longitude / 1.0e7,