diff --git a/msg/templates/uorb/msg.cpp.template b/msg/templates/uorb/msg.cpp.template
index 9003194848..4baa534ead 100644
--- a/msg/templates/uorb/msg.cpp.template
+++ b/msg/templates/uorb/msg.cpp.template
@@ -81,12 +81,8 @@ ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), _
 void print_message(const @uorb_struct& message)
 {
 	PX4_INFO_RAW(" @(uorb_struct)\n");
-	if (message.timestamp != 0) {
-		PX4_INFO_RAW("\t(%.6f seconds ago)\n", hrt_elapsed_time(&message.timestamp) / 1e6);
-	} else {
-		PX4_INFO_RAW("\n");
-	}
 @[for field in sorted_fields]@
 	@( print_field(field) )@
 @[end for]@
+
 }
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index 810d6db908..021133debf 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -246,7 +246,12 @@ def print_field(field):
             print("\tprint_message(message."+ field.name + ");")
             return
 
-    print("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
+    if field.name == 'timestamp':
+        print("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name + \
+            ": " + c_type + "  (%.6f seconds ago)\\n\", " + field_name + \
+            ", hrt_elapsed_time(&message.timestamp) / 1e6);\n\t} else {\n\t\tprintf(\"\\n\");\n\t}" )
+    else:
+        print("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
 
 
 def print_field_def(field):