diff --git a/sw/airborne/subsystems/gps/gps_datalink.c b/sw/airborne/subsystems/gps/gps_datalink.c
index fd960428a0..9d0d990ab5 100644
--- a/sw/airborne/subsystems/gps/gps_datalink.c
+++ b/sw/airborne/subsystems/gps/gps_datalink.c
@@ -46,6 +46,8 @@ void gps_datalink_init(void)
   gps_datalink.pacc = 0;
   gps_datalink.cacc = 0;
 
+  gps_datalink.comp_id = GPS_DATALINK_ID;
+
   struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
   llh_nav0.lat = NAV_LAT0;
   llh_nav0.lon = NAV_LON0;
@@ -110,14 +112,15 @@ static void parse_gps_datalink_small(int16_t heading, uint32_t pos_xyz, uint32_t
   gps_datalink.tow = tow;
   gps_datalink.fix = GPS_FIX_3D; // set 3D fix to true
 
-  // publish new GPS data
-  uint32_t now_ts = get_sys_time_usec();
+  // set gps msg time
   gps_datalink.last_msg_ticks = sys_time.nb_sec_rem;
   gps_datalink.last_msg_time = sys_time.nb_sec;
 
   gps_datalink.last_3dfix_ticks = sys_time.nb_sec_rem;
   gps_datalink.last_3dfix_time = sys_time.nb_sec;
 
+  // publish new GPS data
+  uint32_t now_ts = get_sys_time_usec();
   AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps_datalink);
 }
 
@@ -158,21 +161,22 @@ static void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, in
   gps_datalink.tow = tow;
   gps_datalink.fix = GPS_FIX_3D;
 
-  // publish new GPS data
-  uint32_t now_ts = get_sys_time_usec();
+  // set gps msg time
   gps_datalink.last_msg_ticks = sys_time.nb_sec_rem;
   gps_datalink.last_msg_time = sys_time.nb_sec;
 
   gps_datalink.last_3dfix_ticks = sys_time.nb_sec_rem;
   gps_datalink.last_3dfix_time = sys_time.nb_sec;
 
+  // publish new GPS data
+  uint32_t now_ts = get_sys_time_usec();
   AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps_datalink);
 }
 
 
 void gps_datalink_parse_REMOTE_GPS(void)
 {
-  if (DL_REMOTE_GPS_SMALL_ac_id(dl_buffer) != AC_ID) { return; } // not for this aircraft
+  if (DL_REMOTE_GPS_ac_id(dl_buffer) != AC_ID) { return; } // not for this aircraft
 
   parse_gps_datalink(DL_REMOTE_GPS_numsv(dl_buffer),
                      DL_REMOTE_GPS_ecef_x(dl_buffer),
diff --git a/sw/ground_segment/misc/natnet2ivy.c b/sw/ground_segment/misc/natnet2ivy.c
index ff891936de..02f5c86b9b 100644
--- a/sw/ground_segment/misc/natnet2ivy.c
+++ b/sw/ground_segment/misc/natnet2ivy.c
@@ -572,12 +572,12 @@ gboolean timeout_transmit_callback(gpointer data)
 
 
     /* Construct time of time of week (tow) */
-    time_t now;
-    time(&now);
-    struct tm *ts = localtime(&now);
+    struct timeval now;
+    gettimeofday(&now, NULL);
+    struct tm *ts = localtime(&now.tv_sec);
 
-    uint32_t tow = (ts->tm_wday - 1) * (24 * 60 * 60 * 1000) + ts->tm_hour * (60 * 60 * 1000) + ts->tm_min *
-                   (60 * 1000) + ts->tm_sec * 1000;
+    uint32_t tow = ts->tm_wday * (24 * 60 * 60 * 1000) + ts->tm_hour * (60 * 60 * 1000) + ts->tm_min *
+                   (60 * 1000) + ts->tm_sec * 1000 + now.tv_usec / 1000 ;
 
     // Transmit the REMOTE_GPS packet on the ivy bus (either small or big)
     if (small_packets) {