From 5bd574dd05ffd34d8050ebaa81554c4d098f417b Mon Sep 17 00:00:00 2001
From: tommises <tommises@gmail.com>
Date: Sat, 9 Jul 2016 11:09:19 -0600
Subject: [PATCH] Fixed timestamp synchronization

---
 src/modules/mavlink/mavlink_receiver.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index dc9b711385..acdc67993b 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2177,8 +2177,9 @@ void MavlinkReceiver::print_status()
 
 uint64_t MavlinkReceiver::sync_stamp(uint64_t usec)
 {
-	if (_time_offset > 0) {
-		return usec - (_time_offset / 1000) ;
+
+	if (_time_offset != 0) {
+		return usec + (_time_offset / 1000) ;
 
 	} else {
 		return hrt_absolute_time();