From 9ae85ed9ab397a96e127b7755d57b8ff8efd8a0c Mon Sep 17 00:00:00 2001
From: Peter Barker <pb-temper@barker.dropbear.id.au>
Date: Thu, 30 Apr 2015 13:23:08 +1000
Subject: [PATCH] APM_Control/AP_AutoTune: use 64-bit timestamps for dataflash
 logs

---
 libraries/APM_Control/AP_AutoTune.cpp | 2 +-
 libraries/APM_Control/AP_AutoTune.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 3a84e78cc2..e3165593c8 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -331,7 +331,7 @@ void AP_AutoTune::write_log(float servo, float demanded, float achieved)
 
     struct log_ATRP pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ATRP_MSG),
-        timestamp  : hal.scheduler->millis(),
+        time_us    : hal.scheduler->micros64(),
         type       : type,
     	state      : (uint8_t)state,
         servo      : (int16_t)(servo*100),
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index 4e286394e6..b786c7cc7b 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -25,7 +25,7 @@ public:
 
     struct PACKED log_ATRP {
         LOG_PACKET_HEADER;
-        uint32_t timestamp;
+        uint64_t time_us;
         uint8_t  type;
         uint8_t  state;
         int16_t  servo;