add timestamp field to uORB msgs; sync timestamp whenever possible

msg/actuator_armed.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 
 uint32 armed_time_ms	# Arming timestamp
 bool armed		# Set to true if system is armed

msg/actuator_controls.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			# time since system start (microseconds)
 uint8 NUM_ACTUATOR_CONTROLS = 8
 uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
 uint8 INDEX_ROLL = 0
@@ -15,4 +16,3 @@ float32[8] control
 
 # TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
-

msg/actuator_direct.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			# time since system start (microseconds)
 uint8 NUM_ACTUATORS_DIRECT = 16
 uint32 nvalues				# number of valid values
 float32[16] values			# actuator values, from -1 to 1

msg/actuator_outputs.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 NUM_ACTUATOR_OUTPUTS		= 16
 uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
 uint32 noutputs				# valid outputs

msg/adc_report.msg

@@ -1,2 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
 int16[12] channel_id		# ADC channel IDs, negative for non-existent
 float32[12] channel_value	# ADC channel value in volt, valid if channel ID is positive

msg/airspeed.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 float32 indicated_airspeed_m_s		# indicated airspeed in m/s
 

msg/att_pos_mocap.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint32 id			# ID of the estimator, commonly the component ID of the incoming message
 
 uint64 timestamp_received	# timestamp when the estimate was received

msg/battery_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 voltage_v		# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a		# Battery current in amperes, -1 if unknown

msg/camera_capture.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_utc		# Capture time in UTC / GPS time
 uint32 seq					# Image sequence number
 float64 lat					# Latitude in degrees (WGS84)

msg/camera_trigger.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 uint64 timestamp_utc # UTC timestamp
 
 uint32 seq		# Image sequence number

msg/collision_report.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 src
 uint32 id
 uint8 action

msg/commander_state.msg

@@ -1,4 +1,6 @@
 # Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
+uint64 timestamp			# time since system start (microseconds)
+
 uint8 MAIN_STATE_MANUAL = 0
 uint8 MAIN_STATE_ALTCTL = 1
 uint8 MAIN_STATE_POSCTL = 2
@@ -15,5 +17,4 @@ uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_AUTO_PRECLAND = 13
 uint8 MAIN_STATE_MAX = 14
 
-
 uint8 main_state		    	# main state machine

msg/cpuload.msg

@@ -1,2 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 load                    # processor load from 0 to 1
 float32 ram_usage		# RAM usage from 0 to 1

msg/debug_key_value.msg

@@ -1,3 +1,3 @@
-uint32 timestamp_ms		# in milliseconds since system start
+uint64 timestamp		# time since system start (microseconds)
 char[10] key			# max. 10 characters as key / name
 float32 value			# the value to send as debug output

msg/debug_value.msg

@@ -1,3 +1,3 @@
-uint32 timestamp_ms     # in milliseconds since system start
+uint64 timestamp	# time since system start (microseconds)
 int8 ind                # index of debug variable
 float32 value           # the value to send as debug output

msg/debug_vect.msg

@@ -1,4 +1,4 @@
-uint64 timestamp_us     # in microseconds since system start
+uint64 timestamp	# time since system start (microseconds)
 char[10] name           # max. 10 characters as key / name
 float32 x               # x value
 float32 y               # y value

msg/differential_pressure.msg

@@ -1,3 +1,4 @@
+uint64 timestamp				# time since system start (microseconds)
 uint64 error_count				# Number of errors detected by driver
 float32 differential_pressure_raw_pa		# Raw differential pressure reading (may be negative)
 float32 differential_pressure_filtered_pa	# Low pass filtered differential pressure reading

msg/distance_sensor.msg

@@ -1,5 +1,6 @@
 # DISTANCE_SENSOR message data
 
+uint64 timestamp		# time since system start (microseconds)
 
 float32 min_distance		# Minimum distance the sensor can measure (in m)
 float32 max_distance		# Maximum distance the sensor can measure (in m)

msg/ekf2_innovations.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32[6] vel_pos_innov  # velocity and position innovations
 float32[3] mag_innov 	# earth magnetic field innovations
 float32 heading_innov 	# heading innovation

msg/ekf2_timestamps.msg

@@ -1,9 +1,10 @@
 # this message contains the (relative) timestamps of the sensor inputs used by
 # ekf2. It can be used for reproducible replay.
 
-# the timestamp field (auto-generated) is the ekf2 reference time and matches
-# the timestamp of the sensor_combined topic.
+# the timestamp field is the ekf2 reference time and matches the timestamp of
+# the sensor_combined topic.
 
+uint64 timestamp		# time since system start (microseconds)
 
 int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
                                          # is set to this value, it means the associated sensor values did not update
@@ -22,4 +23,3 @@ int16 vision_attitude_timestamp_rel
 int16 vision_position_timestamp_rel
 
 # Note: this is a high-rate logged topic, so it needs to be as small as possible
-

msg/ekf_gps_position.msg

@@ -1,4 +1,5 @@
 # EKF blended position in WGS84 coordinates.
+uint64 timestamp		# time since system start (microseconds)
 int32 lat			# Latitude in 1E-7 degrees
 int32 lon			# Longitude in 1E-7 degrees
 int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)

msg/esc_report.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 esc_vendor					# Vendor of current ESC
 uint32 esc_errorcount					# Number of reported errors by ESC - if supported
 int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported

msg/esc_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
 
 uint8 ESC_VENDOR_GENERIC = 0				# generic ESC

msg/estimator_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32[24] states		# Internal filter states
 uint8 n_states		# Number of states effectively used
 

msg/follow_target.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float64 lat			# target position (deg * 1e7)
 float64 lon			# target position (deg * 1e7) 
 float32 alt			# target position

msg/fw_pos_ctrl_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 nav_roll
 float32 nav_pitch
 float32 nav_bearing

msg/geofence_result.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			    # time since system start (microseconds)
 uint8 GF_ACTION_NONE = 0                    # no action on geofence violation
 uint8 GF_ACTION_WARN = 1                    # critical mavlink message
 uint8 GF_ACTION_LOITER = 2                  # switch to AUTO|LOITER

msg/gps_dump.msg

@@ -1,6 +1,8 @@
 # This message is used to dump the raw gps communication to the log.
 # Set the parameter GPS_DUMP_COMM to 1 to use this.
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint8 len			# length of data, MSB bit set = message to the gps device,
 				# clear = message from the device
 uint8[79] data			# data to write to the log

msg/gps_inject_data.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 len			# length of data
 uint8 flags         		# LSB: 1=fragmented
 uint8[182] data		# data to write to GPS device (RTCM message)

msg/home_position.msg

@@ -1,5 +1,7 @@
 # GPS home position in WGS84 coordinates.
 
+uint64 timestamp		# time since system start (microseconds)
+
 float64 lat				# Latitude in degrees
 float64 lon				# Longitude in degrees
 float32 alt				# Altitude in meters (AMSL)

msg/input_rc.msg

@@ -1,3 +1,5 @@
+uint64 timestamp			# time since system start (microseconds)
+
 uint8 RC_INPUT_SOURCE_UNKNOWN = 0
 uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
 uint8 RC_INPUT_SOURCE_PX4IO_PPM = 2

msg/iridiumsbd_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp				# time since system start (microseconds)
 uint64 last_heartbeat				# timestamp of the last successful sbd session
 uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
@@ -11,4 +12,4 @@ bool ring_pending                   # indicates if a ring call is pending
 bool tx_buf_write_pending           # indicates if a tx buffer write is pending
 bool tx_session_pending             # indicates if a tx session is pending
 bool rx_read_pending                # indicates if a rx read is pending
-bool rx_session_pending             # indicates if a rx session is pending
+bool rx_session_pending             # indicates if a rx session is pending

msg/irlock_report.msg

@@ -1,5 +1,7 @@
 # IRLOCK_REPORT message data
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint16 signature
 
 # When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.

msg/landing_target_innovations.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 # Innovation of landing target position estimator
 float32 innov_x
 float32 innov_y

msg/landing_target_pose.msg

@@ -1,5 +1,7 @@
 # Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
 
+uint64 timestamp		# time since system start (microseconds)
+
 bool is_static			# Flag indicating whether the landing target is static or moving with respect to the ground
 
 bool rel_pos_valid		# Flag showing whether relative position is valid

msg/led_control.msg

@@ -1,6 +1,8 @@
 # LED control: control a single or multiple LED's.
 # These are the externally visible LED's, not the board LED's
 
+uint64 timestamp		# time since system start (microseconds)
+
 # colors
 uint8 COLOR_OFF = 0 # this is only used in the drivers
 uint8 COLOR_RED = 1

msg/log_message.msg

@@ -1,5 +1,6 @@
 # A logging message, output with PX4_{WARN,ERR,INFO}
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint8 severity # log level (same as in the linux kernel, starting with 0)
 uint8[127] text
-

msg/manual_control_setpoint.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 uint8 SWITCH_POS_NONE = 0		# switch is not mapped
 uint8 SWITCH_POS_ON = 1			# switch activated (value = 1)

msg/mavlink_log.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 uint8[50] text
 uint8 severity # log level (same as in the linux kernel, starting with 0)

msg/mission.msg

@@ -1,4 +1,5 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 dataman_id	# default 0, there are two offboard storage places in the dataman: 0 or 1
 
 uint16 count		# count of the missions stored in the dataman
-int32 current_seq	# default -1, start at the one changed latest
+int32 current_seq	# default -1, start at the one changed latest

msg/mission_result.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 MISSION_EXECUTION_MODE_NORMAL = 0	# Execute the mission according to the planned items
 uint8 MISSION_EXECUTION_MODE_REVERSE = 1	# Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones
 uint8 MISSION_EXECUTION_MODE_FAST_FORWARD = 2	# Execute the mission as fast as possible, for example converting loiter waypoints to normal ones

msg/mount_orientation.msg

@@ -1 +1,2 @@
+uint64 timestamp		# time since system start (microseconds)
 float32[3] attitude_euler_angle	    # Attitude/direction of the mount as euler angles in rad

msg/multirotor_motor_limits.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint16 saturation_status	# Integer bit mask indicating which axes in the control mixer are saturated
 
 # 0 - True if the saturation status is valid

msg/obstacle_distance.msg

@@ -1,4 +1,5 @@
 # Obstacle distances in front of the sensor.
+uint64 timestamp		# time since system start (microseconds)
 
 uint8 sensor_type # Type from MAV_DISTANCE_SENSOR enum.
 uint8 MAV_DISTANCE_SENSOR_LASER = 0

msg/offboard_control_mode.msg

@@ -1,5 +1,7 @@
 # Off-board control mode
 
+uint64 timestamp		# time since system start (microseconds)
+
 bool ignore_thrust
 bool ignore_attitude
 bool ignore_bodyrate

msg/optical_flow.msg

@@ -1,6 +1,8 @@
 # Optical flow in XYZ body frame in SI units.
 # @see http://en.wikipedia.org/wiki/International_System_of_Units
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint8 sensor_id			# id of the sensor emitting the flow value
 float32 pixel_flow_x_integral	# accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis
 float32 pixel_flow_y_integral	# accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis
@@ -16,4 +18,4 @@ uint8 quality	# Average of quality of accumulated frames, 0: bad quality, 255: m
 
 float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
 float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably
-float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably
+float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably

msg/parameter_update.msg

@@ -1,3 +1,5 @@
 # This message is used to notify the system about one or more parameter changes
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint32 instance       # Instance count - constantly incrementing

msg/ping.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			# time since system start (microseconds)
 uint64 ping_time			# Timestamp of the ping packet
 uint32 ping_sequence		# Sequence number of the ping packet
 uint32 dropped_packets		# Number of dropped ping packets

msg/position_setpoint.msg

@@ -1,5 +1,7 @@
 # this file is only used in the position_setpoint triple as a dependency
 
+uint64 timestamp	# time since system start (microseconds)
+
 uint8 SETPOINT_TYPE_POSITION=0	# position setpoint
 uint8 SETPOINT_TYPE_VELOCITY=1	# velocity setpoint
 uint8 SETPOINT_TYPE_LOITER=2	# loiter setpoint

msg/position_setpoint_triplet.msg

@@ -1,6 +1,8 @@
 # Global position setpoint triplet in WGS84 coordinates.
 # This are the three next waypoints (or just the next two or one).
 
+uint64 timestamp		# time since system start (microseconds)
+
 px4/position_setpoint previous
 px4/position_setpoint current
 px4/position_setpoint next

msg/power_button_state.msg

@@ -1,5 +1,7 @@
 # power button state notification message
 
+uint64 timestamp			    # time since system start (microseconds)
+
 uint8 PWR_BUTTON_STATE_IDEL = 0             # Button went up without meeting shutdown button down time (delete event)
 uint8 PWR_BUTTON_STATE_DOWN = 1             # Button went Down
 uint8 PWR_BUTTON_STATE_UP = 2               # Button went Up

msg/pwm_input.msg

@@ -1,4 +1,4 @@
-
+uint64 timestamp	# time since system start (microseconds)
 uint64 error_count
-uint32 pulse_width	# Pulse width, timer counts 
+uint32 pulse_width	# Pulse width, timer counts
 uint32 period		# Period, timer counts

msg/qshell_req.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8[100] cmd
 uint32 MAX_STRLEN = 100
 uint32 strlen

msg/qshell_retval.msg

@@ -1,2 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
 int32 return_value
 uint32 sequence

msg/rate_ctrl_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 # rates used by the controller
 float32 rollspeed		# Bias corrected angular velocity about X body axis in rad/s

msg/rc_channels.msg

@@ -1,3 +1,5 @@
+uint64 timestamp						# time since system start (microseconds)
+
 uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
 uint8 RC_CHANNELS_FUNCTION_ROLL=1
 uint8 RC_CHANNELS_FUNCTION_PITCH=2

msg/rc_parameter_map.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 RC_PARAM_MAP_NCHAN = 3 # This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
 uint8 PARAM_ID_LEN = 16 # corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
 

msg/safety.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 bool safety_switch_available		# Set to true if a safety switch is connected
 bool safety_off			# Set to true if safety is off
 bool override_available		# Set to true if external override system is connected

msg/satellite_info.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 SAT_INFO_MAX_SATELLITES = 20
 
 uint8 count			# Number of satellites in satellite info

msg/sensor_accel.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint32 device_id	# unique device ID for the sensor that does not change between power cycles
 
 uint64 error_count

msg/sensor_baro.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 uint32 device_id	# Sensor ID that must be unique for each baro sensor and must not change
 
 uint64 error_count

msg/sensor_bias.msg

@@ -3,6 +3,8 @@
 # scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
 #
 
+uint64 timestamp		# time since system start (microseconds)
+
 float32 accel_x		# Bias corrected acceleration in body X axis (in m/s^2)
 float32 accel_y		# Bias corrected acceleration in body Y axis (in m/s^2)
 float32 accel_z		# Bias corrected acceleration in body Z axis (in m/s^2)

msg/sensor_combined.msg

@@ -5,6 +5,8 @@
 # change with board revisions and sensor updates.
 #
 
+uint64 timestamp		# time since system start (microseconds)
+
 int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
 
 # gyro timstamp is equal to the timestamp of the message

msg/sensor_correction.msg

@@ -2,6 +2,8 @@
 # Sensor corrections in SI-unit form for the voted sensor
 #
 
+uint64 timestamp		# time since system start (microseconds)
+
 # Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
 # corrections for uORB instance 0

msg/sensor_gyro.msg

@@ -1,5 +1,7 @@
 uint32 device_id	# unique device ID for the sensor that does not change between power cycles
 
+uint64 timestamp	# time since system start (microseconds)
+
 uint64 error_count
 
 float32 x		# angular velocity in the NED X board axis in rad/s

msg/sensor_mag.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 uint32 device_id	# unique device ID for the sensor that does not change between power cycles
 
 uint64 error_count

msg/sensor_preflight.msg

@@ -2,6 +2,7 @@
 # Pre-flight sensor check metrics. These will be zero if the vehicle only has one sensor.
 # The topic will not be updated when the vehicle is armed
 #
+uint64 timestamp		   # time since system start (microseconds)
 float32 accel_inconsistency_m_s_s  # magnitude of maximum acceleration difference between IMU instances in (m/s/s).
 float32 gyro_inconsistency_rad_s   # magnitude of maximum angular rate difference between IMU instances in (rad/s).
 float32 mag_inconsistency_ga       # magnitude of maximum difference between Mag instances in (Gauss).

msg/sensor_selection.msg

@@ -2,7 +2,7 @@
 # Sensor ID's for the voted sensors output on the sensor_combined topic.
 # Will be updated on startup of the sensor module and when sensor selection changes
 #
-
+uint64 timestamp		# time since system start (microseconds)
 uint32 accel_device_id		# unique device ID for the selected accelerometers
 uint32 baro_device_id		# unique device ID for the selected barometer
 uint32 gyro_device_id		# unique device ID for the selected rate gyros

msg/servorail_status.msg

@@ -1,2 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 voltage_v		# Servo rail voltage in volts
 float32 rssi_v			# RSSI pin voltage in volts

msg/subsystem_info.msg

@@ -1,3 +1,5 @@
+uint64 timestamp		# time since system start (microseconds)
+
 uint64 SUBSYSTEM_TYPE_GYRO = 1
 uint64 SUBSYSTEM_TYPE_ACC = 2
 uint64 SUBSYSTEM_TYPE_MAG = 4

msg/system_power.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 voltage5v_v		# peripheral 5V rail voltage
 float32 voltage3v3_v		# Sensor 3V3 rail voltage
 uint8 v3v3_valid		# Sensor 3V3 rail voltage was read.

msg/task_stack_info.msg

@@ -1,5 +1,7 @@
 # stack information for a single running process
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint8 MAX_REPORT_TASK_NAME_LEN = 16
 
 uint16 stack_free

msg/tecs_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 TECS_MODE_NORMAL = 0
 uint8 TECS_MODE_UNDERSPEED = 1
 uint8 TECS_MODE_TAKEOFF = 2

msg/telemetry_status.msg

@@ -1,3 +1,5 @@
+uint64 timestamp			# time since system start (microseconds)
+
 uint8 TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0
 uint8 TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO = 1
 uint8 TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET = 2

msg/templates/uorb/msg.cpp.template

@@ -61,7 +61,7 @@ topic_name = spec.short_name
 
 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
-topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
+topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
 }@
 
 #include <cinttypes>

msg/templates/uorb/msg.h.template

@@ -110,8 +110,6 @@ struct __EXPORT @(uorb_struct) {
 #else
 struct @(uorb_struct) {
 #endif
-@# timestamp at the beginning of each topic is required for logger
-	uint64_t timestamp; // required for logger
 @print_parsed_fields()
 
 #ifdef __cplusplus

msg/templates/uorb_microcdr/msg.cpp.template

@@ -147,7 +147,6 @@ void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_st
 
     reset_micro_buffer(microCDRWriter);
 
-    serialize_uint64_t(microCDRWriter, input->timestamp);
 @add_code_to_serialize()
     (*length) = micro_buffer_length(microCDRWriter);
 }
@@ -159,6 +158,5 @@ void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct
 
     reset_micro_buffer(microCDRReader);
 
-    deserialize_uint64_t(microCDRReader, &output->timestamp);
 @add_code_to_deserialize()
 }

msg/templates/urtps/msg.idl.template

@@ -65,11 +65,10 @@ def add_msg_fields():
     for field in sorted_fields:
         add_msg_field(field)
 
-        
+
 }@
 @
 struct @(spec.short_name)_
 {
-    unsigned long long timestamp;
 @add_msg_fields()
 }; // struct @(spec.short_name)_

msg/test_motor.msg

@@ -1,3 +1,4 @@
+uint64 timestamp				# time since system start (microseconds)
 uint8 NUM_MOTOR_OUTPUTS = 8
 
 uint32 motor_number				# number of motor to spin

msg/timesync_status.msg

@@ -1,4 +1,5 @@
+uint64 timestamp		# time since system start (microseconds)
 uint64 remote_timestamp		# remote system timestamp (microseconds)
 int64 observed_offset		# raw time offset directly observed from this timesync packet (microseconds)
 int64 estimated_offset		# smoothed time offset between companion system and PX4 (microseconds)
-uint32 round_trip_time		# round trip time of this timesync packet (microseconds)
+uint32 round_trip_time		# round trip time of this timesync packet (microseconds)

msg/trajectory_waypoint.msg

@@ -1,6 +1,7 @@
 # Waypoint Trajectory description. See also Mavlink TRAJECTORY msg
 # The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
 
+uint64 timestamp		# time since system start (microseconds)
 
 float32[3] position
 float32[3] velocity

msg/transponder_report.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 uint32 icao_address 	# ICAO address
 float64 lat 		# Latitude, expressed as degrees
 float64 lon 		# Longitude, expressed as degrees

msg/tune_control.msg

@@ -1,6 +1,8 @@
 # This message is used to control the tunes, when the tune_id is set to CUSTOM
 # then the frequency, duration are used otherwise those values are ignored.
 
+uint64 timestamp     # time since system start (microseconds)
+
 uint8 tune_id        # tune_id corresponding to TuneID::* from the tune_defaults.h in the tunes library
 uint8 tune_override  # if set to 1 the tune which is playing will be stopped and the new started
 uint16 frequency     # in Hz

msg/uavcan_parameter_request.msg

@@ -1,4 +1,5 @@
 # UAVCAN-MAVLink parameter bridge request type
+uint64 timestamp		# time since system start (microseconds)
 uint8 message_type		# MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET
 uint8 node_id			# UAVCAN node ID mapped from MAVLink component ID
 char[17] param_id		# MAVLink/UAVCAN parameter name

msg/uavcan_parameter_value.msg

@@ -1,4 +1,5 @@
 # UAVCAN-MAVLink parameter bridge response type
+uint64 timestamp		# time since system start (microseconds)
 uint8 node_id			# UAVCAN node ID mapped from MAVLink component ID
 char[17] param_id		# MAVLink/UAVCAN parameter name
 int16 param_index		# parameter index, if known

msg/ulog_stream.msg

@@ -1,6 +1,8 @@
 # Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA
 # mavlink message
 
+uint64 timestamp		# time since system start (microseconds)
+
 # flags bitmasks
 uint8 FLAGS_NEED_ACK = 1     # if set, this message requires to be acked.
                              # Acked messages are published synchronous: a
@@ -13,4 +15,3 @@ uint8 first_message_offset   # offset into data where first message starts. This
 uint16 sequence              # allows determine drops
 uint8 flags                  # see FLAGS_*
 uint8[249] data              # ulog data
-

msg/ulog_stream_ack.msg

@@ -1,7 +1,8 @@
 # Ack a previously sent ulog_stream message that had
 # the NEED_ACK flag set
 
-int32 ACK_TIMEOUT = 50         # timeout waiting for an ack until we retry to send the message [ms]
-int32 ACK_MAX_TRIES = 50         # maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms
+uint64 timestamp		# time since system start (microseconds)
+int32 ACK_TIMEOUT = 50		# timeout waiting for an ack until we retry to send the message [ms]
+int32 ACK_MAX_TRIES = 50	# maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms
 
 uint16 sequence

msg/vehicle_air_data.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
 float32 baro_temp_celcius		# Temperature in degrees celsius

msg/vehicle_attitude.msg

@@ -1,5 +1,7 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
 
+uint64 timestamp		# time since system start (microseconds)
+
 float32 rollspeed	# Bias corrected angular velocity about X body axis in rad/s
 float32 pitchspeed	# Bias corrected angular velocity about Y body axis in rad/s
 float32 yawspeed	# Bias corrected angular velocity about Z body axis in rad/s

msg/vehicle_attitude_setpoint.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 int8 LANDING_GEAR_UP = 1	# landing gear up
 int8 LANDING_GEAR_DOWN = -1	# landing gear down
 

msg/vehicle_command.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 uint16 VEHICLE_CMD_CUSTOM_0 = 0				# test command
 uint16 VEHICLE_CMD_CUSTOM_1 = 1				# test command
@@ -15,26 +16,26 @@ uint16 VEHICLE_CMD_NAV_ROI = 80				# Sets the region of interest (ROI) for a sen
 uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81		# Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
 uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84		# Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
 uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85			# Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90		# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91		# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_NAV_GUIDED_ENABLE = 92		# hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90		# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91		# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_NAV_GUIDED_ENABLE = 92		# hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_NAV_DELAY = 93				# Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_NAV_LAST = 95			# NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_DELAY = 112		# Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113		# Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| 
-uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114		# Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_CONDITION_YAW = 115			# Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_CONDITION_LAST = 159		# NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_SET_MODE = 176			# Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_JUMP = 177			# Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178		# Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_SET_HOME = 179			# Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| 
-uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180		# Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_SET_RELAY = 181			# Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| 
-uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint16 VEHICLE_CMD_CONDITION_DELAY = 112		# Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113		# Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|
+uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114		# Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_CONDITION_YAW = 115			# Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_CONDITION_LAST = 159		# NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_SET_MODE = 176			# Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_JUMP = 177			# Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178		# Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_SET_HOME = 179			# Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|
+uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180		# Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_SET_RELAY = 181			# Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
+uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_DO_LAND_START = 189			# Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|  */
 uint16 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 uint16 VEHICLE_CMD_DO_REPOSITION = 192

msg/vehicle_command_ack.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 VEHICLE_RESULT_ACCEPTED = 0
 uint8 VEHICLE_RESULT_TEMPORARILY_REJECTED = 1
 uint8 VEHICLE_RESULT_DENIED = 2

msg/vehicle_constraints.msg

@@ -1,6 +1,8 @@
 # Local setpoint constraints in NED frame
 # setting something to NaN means that no limit is provided
 
+uint64 timestamp		# time since system start (microseconds)
+
 float32 yawspeed	# in radians/sec
 float32 speed_xy	# in meters/sec
 float32 speed_up	# in meters/sec

msg/vehicle_control_mode.msg

@@ -1,7 +1,5 @@
-
-						# is set whenever the writing thread stores new data
-
-bool flag_armed
+uint64 timestamp		# time since system start (microseconds)
+bool flag_armed			# is set whenever the writing thread stores new data
 
 bool flag_external_manual_override_ok		# external override non-fatal for system. Only true for fixed wing
 

msg/vehicle_global_position.msg

@@ -5,6 +5,8 @@
 # e.g. control inputs of the vehicle in a Kalman-filter implementation.
 #
 
+uint64 timestamp		# time since system start (microseconds)
+
 float64 lat			# Latitude, (degrees)
 float64 lon			# Longitude, (degrees)
 float32 alt			# Altitude AMSL, (meters)

msg/vehicle_gps_position.msg

@@ -1,13 +1,15 @@
 # GPS position in WGS84 coordinates.
-# the auto-generated field 'timestamp' is for the position & velocity (microseconds)
+# the field 'timestamp' is for the position & velocity (microseconds)
+uint64 timestamp		# time since system start (microseconds)
+
 int32 lat			# Latitude in 1E-7 degrees
-int32 lon			# Longitude in 1E-7 degrees 
+int32 lon			# Longitude in 1E-7 degrees
 int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
 int32 alt_ellipsoid 		# Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
 
 float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
-float32 c_variance_rad		# GPS course accuracy estimate, (radians) 
-uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   
+float32 c_variance_rad		# GPS course accuracy estimate, (radians)
+uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
 
 float32 eph			# GPS horizontal position accuracy (metres)
 float32 epv			# GPS vertical position accuracy (metres)
@@ -18,16 +20,16 @@ float32 vdop			# Vertical dilution of precision
 int32 noise_per_ms		# GPS noise per millisecond
 int32 jamming_indicator		# indicates jamming is occurring
 
-float32 vel_m_s			# GPS ground speed, (metres/sec) 
-float32 vel_n_m_s		# GPS North velocity, (metres/sec) 
+float32 vel_m_s			# GPS ground speed, (metres/sec)
+float32 vel_n_m_s		# GPS North velocity, (metres/sec)
 float32 vel_e_m_s		# GPS East velocity, (metres/sec)
-float32 vel_d_m_s		# GPS Down velocity, (metres/sec) 
-float32 cog_rad			# Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) 
-bool vel_ned_valid		# True if NED velocity is valid 
+float32 vel_d_m_s		# GPS Down velocity, (metres/sec)
+float32 cog_rad			# Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
+bool vel_ned_valid		# True if NED velocity is valid
 
 int32 timestamp_time_relative	# timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
-uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 
+uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
 
-uint8 satellites_used		# Number of satellites used 
+uint8 satellites_used		# Number of satellites used
 
 float32 heading		# heading in NED. Set to NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])

msg/vehicle_land_detected.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 bool landed		# true if vehicle is currently landed on the ground
 bool freefall	# true if vehicle is currently in free-fall
 bool ground_contact # true if vehicle has ground contact but is not landed

msg/vehicle_local_position.msg

@@ -1,5 +1,7 @@
 # Fused local position in NED.
 
+uint64 timestamp			# time since system start (microseconds)
+
 bool xy_valid				# true if x and y are valid
 bool z_valid				# true if z is valid
 bool v_xy_valid				# true if vy and vy are valid
@@ -35,7 +37,7 @@ float32 ay        # East velocity derivative in NED earth-fixed frame, (metres/s
 float32 az        # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
 
 # Heading
-float32 yaw				# Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI,  (radians) 
+float32 yaw				# Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI,  (radians)
 
 # Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
 bool xy_global				# true if position (x, y) has a valid global reference (ref_lat, ref_lon)

msg/vehicle_local_position_setpoint.msg

@@ -1,6 +1,8 @@
 # Local position setpoint in NED frame
 # setting something to NaN means the state should not be controlled
 
+uint64 timestamp		# time since system start (microseconds)
+
 float32 x			# in meters NED
 float32 y			# in meters NED
 float32 z			# in meters NED

msg/vehicle_magnetometer.msg

@@ -1,2 +1,3 @@
+uint64 timestamp			# time since system start (microseconds)
 
 float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss