diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index ee5a3cb220..57d276ffd4 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -84,7 +84,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
 {
     mavlink_msg_attitude_send(
         chan,
-        micros(),
+        millis(),
         ahrs.roll,
         ahrs.pitch,
         ahrs.yaw,
@@ -418,7 +418,7 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
 {
     mavlink_msg_scaled_pressure_send(
         chan,
-        micros(),
+        millis(),
         (float)barometer.get_pressure()/100.0,
         (float)(barometer.get_pressure() - barometer.get_ground_pressure())/100.0,
         (int)(barometer.get_temperature()*10));
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index a54641492b..3122876f60 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -104,7 +104,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
     Vector3f omega = ahrs.get_gyro();
     mavlink_msg_attitude_send(
         chan,
-        micros(),
+        millis(),
         ahrs.roll,
         ahrs.pitch - radians(g.pitch_trim*0.01),
         ahrs.yaw,
@@ -377,7 +377,7 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
     int32_t pressure = barometer.get_pressure();
     mavlink_msg_scaled_pressure_send(
         chan,
-        micros(),
+        millis(),
         pressure/100.0,
         (pressure - barometer.get_ground_pressure())/100.0,
         barometer.get_temperature());