diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index e649c8738b..b12ea1fb9d 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1459,7 +1459,7 @@ protected:
 
         if (_pos_sub->update(&_pos_time, &vpos)) {
             mavlink_vision_position_estimate_t vmsg;
-            vmsg.usec = vpos.timestamp_boot;
+            vmsg.usec = vpos.timestamp;
             vmsg.x = vpos.x;
             vmsg.y = vpos.y;
             vmsg.z = vpos.z;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index f5bb444785..b9c7690a7e 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -957,14 +957,13 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
 	mavlink_vision_position_estimate_t pos;
 	mavlink_msg_vision_position_estimate_decode(msg, &pos);
 
-	struct vision_position_estimate_s vision_position;
-	memset(&vision_position, 0, sizeof(vision_position));
+	struct vision_position_estimate_s vision_position = {};
 
 	// Use the component ID to identify the vision sensor
 	vision_position.id = msg->compid;
 
-	vision_position.timestamp_boot = sync_stamp(pos.usec);
-	vision_position.timestamp_computer = sync_stamp(pos.usec); // Synced time
+	vision_position.timestamp = sync_stamp(pos.usec);
+	vision_position.timestamp_received = hrt_absolute_time();
 	vision_position.x = pos.x;
 	vision_position.y = pos.y;
 	vision_position.z = pos.z;