diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 986906e2ae..bf2845924c 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1626,7 +1626,7 @@ protected:
 		if (_est_sub->update(&_est_time, &est)) {
 			mavlink_local_position_ned_cov_t msg = {};
 
-			msg.time_boot_ms = est.timestamp / 1000;
+			msg.time_usec = est.timestamp;
 			msg.x = est.states[0];
 			msg.y = est.states[1];
 			msg.z = est.states[2];