diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index c5a015eb4d..4f0c87bdbc 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -282,6 +282,7 @@ void Standard::update_external_state()
 void Standard::fill_actuator_outputs()
 {
 	/* multirotor controls */
+	_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
 	_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
 			* _mc_roll_weight;	// roll
 	_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -292,6 +293,7 @@ void Standard::fill_actuator_outputs()
 		_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;	// throttle
 
 	/* fixed wing controls */
+	_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
 	_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
 			* (1 - _mc_roll_weight);	//roll
 	_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index e7daa2c3a3..4089be5b83 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -446,6 +446,7 @@ void Tailsitter::fill_actuator_outputs()
 {
 	switch (_vtol_mode) {
 	case ROTARY_WING:
+		_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
 		_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
 		_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
 			_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
@@ -453,6 +454,8 @@ void Tailsitter::fill_actuator_outputs()
 		_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
 			_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
 
+		_actuators_out_1->timestamp = _actuators_mc_in->timestamp;
+
 		if (_params->elevons_mc_lock == 1) {
 			_actuators_out_1->control[0] = 0;
 			_actuators_out_1->control[1] = 0;
@@ -469,6 +472,7 @@ void Tailsitter::fill_actuator_outputs()
 
 	case FIXED_WING:
 		// in fixed wing mode we use engines only for providing thrust, no moments are generated
+		_actuators_out_0->timestamp = _actuators_fw_in->timestamp;
 		_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
 		_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
 		_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
@@ -487,6 +491,8 @@ void Tailsitter::fill_actuator_outputs()
 
 	case TRANSITION:
 		// in transition engines are mixed by weight (BACK TRANSITION ONLY)
+		_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
+		_actuators_out_1->timestamp = _actuators_mc_in->timestamp;
 		_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
 				* _mc_roll_weight;
 		_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 3890a71843..17b3af75df 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -384,6 +384,7 @@ void Tiltrotor::update_external_state()
 */
 void Tiltrotor::fill_actuator_outputs()
 {
+	_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
 	_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
 			* _mc_roll_weight;
 	_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -400,6 +401,7 @@ void Tiltrotor::fill_actuator_outputs()
 			_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];;
 	}
 
+	_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
 	_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
 			* (1 - _mc_roll_weight);
 	_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =