diff --git a/msg/att_pos_mocap.msg b/msg/att_pos_mocap.msg
index 52bc04b5aa..6c007a6393 100644
--- a/msg/att_pos_mocap.msg
+++ b/msg/att_pos_mocap.msg
@@ -1,7 +1,6 @@
 uint32 id			# ID of the estimator, commonly the component ID of the incoming message
 
-uint64 timestamp_boot		# time of this estimate, in microseconds since system start
-uint64 timestamp_computer	# timestamp provided by the companion computer, in us
+uint64 timestamp_received	# timestamp when the estimate was received
 
 float32[4] q			# Estimated attitude as quaternion
 
diff --git a/src/modules/local_position_estimator/sensors/mocap.cpp b/src/modules/local_position_estimator/sensors/mocap.cpp
index 8319fc403f..c629b3f17b 100644
--- a/src/modules/local_position_estimator/sensors/mocap.cpp
+++ b/src/modules/local_position_estimator/sensors/mocap.cpp
@@ -47,7 +47,7 @@ int BlockLocalPositionEstimator::mocapMeasure(Vector<float, n_y_mocap> &y)
 	y(Y_mocap_y) = _sub_mocap.get().y;
 	y(Y_mocap_z) = _sub_mocap.get().z;
 	_mocapStats.update(y);
-	_time_last_mocap = _sub_mocap.get().timestamp_boot;
+	_time_last_mocap = _sub_mocap.get().timestamp;
 	return OK;
 }
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index b366c9940e..aca7f71077 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1741,7 +1741,7 @@ protected:
 		if (_mocap_sub->update(&_mocap_time, &mocap)) {
 			mavlink_att_pos_mocap_t msg;
 
-			msg.time_usec = mocap.timestamp_boot;
+			msg.time_usec = mocap.timestamp;
 			msg.q[0] = mocap.q[0];
 			msg.q[1] = mocap.q[1];
 			msg.q[2] = mocap.q[2];
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b9c7690a7e..81f123ef03 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -677,14 +677,13 @@ MavlinkReceiver::handle_message_att_pos_mocap(mavlink_message_t *msg)
 	mavlink_att_pos_mocap_t mocap;
 	mavlink_msg_att_pos_mocap_decode(msg, &mocap);
 
-	struct att_pos_mocap_s att_pos_mocap;
-	memset(&att_pos_mocap, 0, sizeof(att_pos_mocap));
+	struct att_pos_mocap_s att_pos_mocap = {};
 
 	// Use the component ID to identify the mocap system
 	att_pos_mocap.id = msg->compid;
 
-	att_pos_mocap.timestamp_boot = sync_stamp(mocap.time_usec);
-	att_pos_mocap.timestamp_computer = sync_stamp(mocap.time_usec); // Synced time
+	att_pos_mocap.timestamp = sync_stamp(mocap.time_usec);
+	att_pos_mocap.timestamp_received = hrt_absolute_time();
 
 	att_pos_mocap.q[0] = mocap.q[0];
 	att_pos_mocap.q[1] = mocap.q[1];