diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 038796de31..e649c8738b 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1459,7 +1459,7 @@ protected:
 
         if (_pos_sub->update(&_pos_time, &vpos)) {
             mavlink_vision_position_estimate_t vmsg;
-            vmsg.usec = vpos.timestamp_boot / 1000;
+            vmsg.usec = vpos.timestamp_boot;
             vmsg.x = vpos.x;
             vmsg.y = vpos.y;
             vmsg.z = vpos.z;