diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 7f67475f2e..c10be77b52 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1430,7 +1430,7 @@ protected:
 		struct position_setpoint_triplet_s pos_sp_triplet;
 
 		if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) {
-			mavlink_position_target_global_int_t msg;
+			mavlink_position_target_global_int_t msg{};
 
 			msg.coordinate_frame = MAV_FRAME_GLOBAL;
 			msg.lat_int = pos_sp_triplet.current.lat * 1e7;
@@ -1490,8 +1490,9 @@ protected:
 		struct vehicle_local_position_setpoint_s pos_sp;
 
 		if (_pos_sp_sub->update(&_pos_sp_time, &pos_sp)) {
-			mavlink_position_target_local_ned_t msg;
+			mavlink_position_target_local_ned_t msg{};
 
+			msg.time_boot_ms = pos_sp.timestamp / 1000;
 			msg.coordinate_frame = MAV_FRAME_LOCAL_NED;
 			msg.x = pos_sp.x;
 			msg.y = pos_sp.y;
@@ -1558,7 +1559,7 @@ protected:
 			struct vehicle_rates_setpoint_s att_rates_sp;
 			(void)_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp);
 
-			mavlink_attitude_target_t msg;
+			mavlink_attitude_target_t msg{};
 
 			msg.time_boot_ms = att_sp.timestamp / 1000;
 			mavlink_euler_to_quaternion(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, msg.q);
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 0106af80aa..ecc40428de 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -788,6 +788,7 @@ MulticopterPositionControl::task_main()
 			}
 
 			/* fill local position setpoint */
+			_local_pos_sp.timestamp = hrt_absolute_time();
 			_local_pos_sp.x = _pos_sp(0);
 			_local_pos_sp.y = _pos_sp(1);
 			_local_pos_sp.z = _pos_sp(2);
diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
index 8988a0330d..6766bb58a9 100644
--- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
@@ -50,11 +50,12 @@
  */
 
 struct vehicle_local_position_setpoint_s {
+	uint64_t timestamp;	/**< timestamp of the setpoint */
 	float x;		/**< in meters NED			  		*/
 	float y;		/**< in meters NED			  		*/
 	float z;		/**< in meters NED			  		*/
 	float yaw;		/**< in radians NED -PI..+PI  		*/
-}; /**< Local position in NED frame to go to */
+}; /**< Local position in NED frame */
 
 /**
  * @}