diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 56930f9d38..7e33b2ad91 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -2761,10 +2761,17 @@ class AutoTest(ABC):
     def get_sim_time(self, timeout=60):
         """Get SITL time in seconds."""
         self.drain_mav()
-        m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True, timeout=timeout)
-        if m is None:
-            raise AutoTestTimeoutException("Did not get SYSTEM_TIME message after %f seconds" % timeout)
-        return m.time_boot_ms * 1.0e-3
+        tstart = time.time()
+        while True:
+            self.drain_all_pexpects()
+            if time.time() - tstart > timeout:
+                raise AutoTestTimeoutException("Did not get SYSTEM_TIME message after %f seconds" % timeout)
+
+            m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True, timeout=0.1)
+            if m is None:
+                continue
+
+            return m.time_boot_ms * 1.0e-3
 
     def get_sim_time_cached(self):
         """Get SITL time in seconds."""