diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index d1dabd04c6..92ed1499f5 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -565,7 +565,8 @@ void monitor_task( void ) {
       estimator_hspeed_mod > MIN_SPEED_FOR_TAKEOFF) {
     estimator_flight_time = 1;
     launch = TRUE; /* Not set in non auto launch */
-    DOWNLINK_SEND_TAKEOFF(DefaultChannel, DefaultDevice, &sys_time.nb_sec);
+    uint16_t time_sec = sys_time.nb_sec;
+    DOWNLINK_SEND_TAKEOFF(DefaultChannel, DefaultDevice, &time_sec);
   }
 
 #ifdef USE_GPIO
diff --git a/sw/airborne/firmwares/motor_bench/main_motor_bench.c b/sw/airborne/firmwares/motor_bench/main_motor_bench.c
index 3b3afe9f38..4bf01b9ec2 100644
--- a/sw/airborne/firmwares/motor_bench/main_motor_bench.c
+++ b/sw/airborne/firmwares/motor_bench/main_motor_bench.c
@@ -82,7 +82,8 @@ static inline void main_periodic_task( void ) {
       DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
       PeriodicSendDlValue(DefaultChannel);
     });
-  DOWNLINK_SEND_MOTOR_BENCH_STATUS(DefaultChannel, DefaultDevice, &cpu_time_ticks, &throttle, &rpm, &amps , &thrust, &torque, &cpu_time_sec, &mb_modes_mode);
+  uint16_t time_secs = sys_time.nb_sec;
+  DOWNLINK_SEND_MOTOR_BENCH_STATUS(DefaultChannel, DefaultDevice, &sys_time.nb_sec_rem, &throttle, &rpm, &amps , &thrust, &torque, &time_secs, &mb_modes_mode);
 
 
 
diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c
index 47527879d3..f6161fd0c6 100644
--- a/sw/airborne/firmwares/tutorial/main_demo3.c
+++ b/sw/airborne/firmwares/tutorial/main_demo3.c
@@ -28,6 +28,6 @@ static inline void main_init( void ) {
 static inline void main_periodic_task( void ) {
   LED_TOGGLE(1);
   Uart0PrintString("demo3 running since ");
-  Uart0PrintHex16(cpu_time_sec);
+  Uart0PrintHex32(cpu_time_sec);
   Uart0PrintString(" seconds\n");
 }
diff --git a/sw/airborne/firmwares/tutorial/main_demo4.c b/sw/airborne/firmwares/tutorial/main_demo4.c
index b0a91d0d8d..6a7d285954 100644
--- a/sw/airborne/firmwares/tutorial/main_demo4.c
+++ b/sw/airborne/firmwares/tutorial/main_demo4.c
@@ -28,5 +28,6 @@ static inline void main_init( void ) {
 
 static inline void main_periodic_task( void ) {
   LED_TOGGLE(1);
-  DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
+  uint16_t time_sec = sys_time.nb_sec;
+  DOWNLINK_SEND_TAKEOFF(&time_sec);
 }
diff --git a/sw/airborne/firmwares/tutorial/main_demo5.c b/sw/airborne/firmwares/tutorial/main_demo5.c
index fe85cd36e0..59a982965f 100644
--- a/sw/airborne/firmwares/tutorial/main_demo5.c
+++ b/sw/airborne/firmwares/tutorial/main_demo5.c
@@ -32,7 +32,8 @@ static inline void main_init( void ) {
 
 static inline void main_periodic_task( void ) {
   //  LED_TOGGLE(1);
-  DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
+  uint16_t time_sec = sys_time.nb_sec;
+  DOWNLINK_SEND_TAKEOFF(&time_sec);
 }
 
 static inline void main_event_task( void ) {
diff --git a/sw/airborne/firmwares/tutorial/main_demo6.c b/sw/airborne/firmwares/tutorial/main_demo6.c
index 7703f13f1c..a34882882f 100644
--- a/sw/airborne/firmwares/tutorial/main_demo6.c
+++ b/sw/airborne/firmwares/tutorial/main_demo6.c
@@ -29,7 +29,8 @@ static inline void main_init( void ) {
 
 static inline void main_periodic_task( void ) {
   LED_TOGGLE(1);
-  //  DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
+  //uint16_t time_sec = sys_time.nb_sec;
+  //  DOWNLINK_SEND_TAKEOFF(&time_sec);
   usb_serial_transmit( 'A' );
   usb_serial_transmit( '\n' );
 
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index bc23c292ca..210ab698aa 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -385,7 +385,7 @@ void parse_ins_msg( void ) {
     gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
     gps.num_sv = 0;
 
-    gps.last_fix_time = cpu_time_sec;
+    gps.last_fix_time = sys_time.nb_sec;
 
     uint8_t i;
     // Do not write outside buffer
@@ -417,7 +417,7 @@ void parse_ins_msg( void ) {
 #ifdef GPS_LED
     LED_TOGGLE(GPS_LED);
 #endif
-        gps.last_fix_time = cpu_time_sec;
+        gps.last_fix_time = sys_time.nb_sec;
         gps.week = 0; // FIXME
         gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf,offset) * 10;
         gps.lla_pos.lat = RadOfDeg(XSENS_DATA_RAWGPS_lat(xsens_msg_buf,offset));
@@ -525,7 +525,7 @@ void parse_ins_msg( void ) {
       }
       if (XSENS_MASK_Position(xsens_output_mode)) {
 #if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS
-        gps.last_fix_time = cpu_time_sec;
+        gps.last_fix_time = sys_time.nb_sec;
 
         lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf,offset));
         lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf,offset));
diff --git a/sw/airborne/test/subsystems/test_radio_control.c b/sw/airborne/test/subsystems/test_radio_control.c
index bf6b76007a..f0d5426d1a 100644
--- a/sw/airborne/test/subsystems/test_radio_control.c
+++ b/sw/airborne/test/subsystems/test_radio_control.c
@@ -61,8 +61,7 @@ static inline void main_periodic_task( void ) {
 
   RunOnceEvery(51, {
     /*LED_TOGGLE(2);*/
-    uint32_t blaaa= cpu_time_sec;
-    DOWNLINK_SEND_TIME(DefaultChannel, DefaultDevice, &blaaa);
+    DOWNLINK_SEND_TIME(DefaultChannel, DefaultDevice, &sys_time.nb_sec);
   });
 
   RunOnceEvery(10, {radio_control_periodic_task();});