diff --git a/ASLUAV/version.h b/ASLUAV/version.h
index 63a59ba..c64d8c8 100644
--- a/ASLUAV/version.h
+++ b/ASLUAV/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/ardupilotmega/version.h b/ardupilotmega/version.h
index f7a15ac..92bb852 100644
--- a/ardupilotmega/version.h
+++ b/ardupilotmega/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/autoquad/version.h b/autoquad/version.h
index 934404b..1ce2d0c 100644
--- a/autoquad/version.h
+++ b/autoquad/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/common/mavlink_msg_home_position.h b/common/mavlink_msg_home_position.h
index d5ac5e5..041f8a3 100644
--- a/common/mavlink_msg_home_position.h
+++ b/common/mavlink_msg_home_position.h
@@ -15,11 +15,12 @@ typedef struct __mavlink_home_position_t {
  float approach_x; /*< Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
  float approach_y; /*< Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
  float approach_z; /*< Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
+ uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
 }) mavlink_home_position_t;
 
-#define MAVLINK_MSG_ID_HOME_POSITION_LEN 52
+#define MAVLINK_MSG_ID_HOME_POSITION_LEN 60
 #define MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN 52
-#define MAVLINK_MSG_ID_242_LEN 52
+#define MAVLINK_MSG_ID_242_LEN 60
 #define MAVLINK_MSG_ID_242_MIN_LEN 52
 
 #define MAVLINK_MSG_ID_HOME_POSITION_CRC 104
@@ -31,7 +32,7 @@ typedef struct __mavlink_home_position_t {
 #define MAVLINK_MESSAGE_INFO_HOME_POSITION { \
     242, \
     "HOME_POSITION", \
-    10, \
+    11, \
     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_home_position_t, latitude) }, \
          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_home_position_t, longitude) }, \
          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_home_position_t, altitude) }, \
@@ -42,12 +43,13 @@ typedef struct __mavlink_home_position_t {
          { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_home_position_t, approach_x) }, \
          { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_home_position_t, approach_y) }, \
          { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_home_position_t, approach_z) }, \
+         { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 52, offsetof(mavlink_home_position_t, time_usec) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_HOME_POSITION { \
     "HOME_POSITION", \
-    10, \
+    11, \
     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_home_position_t, latitude) }, \
          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_home_position_t, longitude) }, \
          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_home_position_t, altitude) }, \
@@ -58,6 +60,7 @@ typedef struct __mavlink_home_position_t {
          { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_home_position_t, approach_x) }, \
          { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_home_position_t, approach_y) }, \
          { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_home_position_t, approach_z) }, \
+         { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 52, offsetof(mavlink_home_position_t, time_usec) }, \
          } \
 }
 #endif
@@ -78,10 +81,11 @@ typedef struct __mavlink_home_position_t {
  * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-                               int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
+                               int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
@@ -94,6 +98,7 @@ static inline uint16_t mavlink_msg_home_position_pack(uint8_t system_id, uint8_t
     _mav_put_float(buf, 40, approach_x);
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
+    _mav_put_uint64_t(buf, 52, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HOME_POSITION_LEN);
 #else
@@ -107,6 +112,7 @@ static inline uint16_t mavlink_msg_home_position_pack(uint8_t system_id, uint8_t
     packet.approach_x = approach_x;
     packet.approach_y = approach_y;
     packet.approach_z = approach_z;
+    packet.time_usec = time_usec;
     mav_array_memcpy(packet.q, q, sizeof(float)*4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HOME_POSITION_LEN);
 #endif
@@ -131,11 +137,12 @@ static inline uint16_t mavlink_msg_home_position_pack(uint8_t system_id, uint8_t
  * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_home_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                mavlink_message_t* msg,
-                                   int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z)
+                                   int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z,uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
@@ -148,6 +155,7 @@ static inline uint16_t mavlink_msg_home_position_pack_chan(uint8_t system_id, ui
     _mav_put_float(buf, 40, approach_x);
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
+    _mav_put_uint64_t(buf, 52, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HOME_POSITION_LEN);
 #else
@@ -161,6 +169,7 @@ static inline uint16_t mavlink_msg_home_position_pack_chan(uint8_t system_id, ui
     packet.approach_x = approach_x;
     packet.approach_y = approach_y;
     packet.approach_z = approach_z;
+    packet.time_usec = time_usec;
     mav_array_memcpy(packet.q, q, sizeof(float)*4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HOME_POSITION_LEN);
 #endif
@@ -179,7 +188,7 @@ static inline uint16_t mavlink_msg_home_position_pack_chan(uint8_t system_id, ui
  */
 static inline uint16_t mavlink_msg_home_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_home_position_t* home_position)
 {
-    return mavlink_msg_home_position_pack(system_id, component_id, msg, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z);
+    return mavlink_msg_home_position_pack(system_id, component_id, msg, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z, home_position->time_usec);
 }
 
 /**
@@ -193,7 +202,7 @@ static inline uint16_t mavlink_msg_home_position_encode(uint8_t system_id, uint8
  */
 static inline uint16_t mavlink_msg_home_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_home_position_t* home_position)
 {
-    return mavlink_msg_home_position_pack_chan(system_id, component_id, chan, msg, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z);
+    return mavlink_msg_home_position_pack_chan(system_id, component_id, chan, msg, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z, home_position->time_usec);
 }
 
 /**
@@ -210,10 +219,11 @@ static inline uint16_t mavlink_msg_home_position_encode_chan(uint8_t system_id,
  * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_home_position_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
+static inline void mavlink_msg_home_position_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
@@ -226,6 +236,7 @@ static inline void mavlink_msg_home_position_send(mavlink_channel_t chan, int32_
     _mav_put_float(buf, 40, approach_x);
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
+    _mav_put_uint64_t(buf, 52, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, buf, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
 #else
@@ -239,6 +250,7 @@ static inline void mavlink_msg_home_position_send(mavlink_channel_t chan, int32_
     packet.approach_x = approach_x;
     packet.approach_y = approach_y;
     packet.approach_z = approach_z;
+    packet.time_usec = time_usec;
     mav_array_memcpy(packet.q, q, sizeof(float)*4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, (const char *)&packet, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
 #endif
@@ -252,7 +264,7 @@ static inline void mavlink_msg_home_position_send(mavlink_channel_t chan, int32_
 static inline void mavlink_msg_home_position_send_struct(mavlink_channel_t chan, const mavlink_home_position_t* home_position)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_home_position_send(chan, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z);
+    mavlink_msg_home_position_send(chan, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z, home_position->time_usec);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, (const char *)home_position, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
 #endif
@@ -266,7 +278,7 @@ static inline void mavlink_msg_home_position_send_struct(mavlink_channel_t chan,
   is usually the receive buffer for the channel, and allows a reply to an
   incoming message with minimum stack space usage.
  */
-static inline void mavlink_msg_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
+static inline void mavlink_msg_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
@@ -279,6 +291,7 @@ static inline void mavlink_msg_home_position_send_buf(mavlink_message_t *msgbuf,
     _mav_put_float(buf, 40, approach_x);
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
+    _mav_put_uint64_t(buf, 52, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, buf, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
 #else
@@ -292,6 +305,7 @@ static inline void mavlink_msg_home_position_send_buf(mavlink_message_t *msgbuf,
     packet->approach_x = approach_x;
     packet->approach_y = approach_y;
     packet->approach_z = approach_z;
+    packet->time_usec = time_usec;
     mav_array_memcpy(packet->q, q, sizeof(float)*4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, (const char *)packet, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
 #endif
@@ -403,6 +417,16 @@ static inline float mavlink_msg_home_position_get_approach_z(const mavlink_messa
     return _MAV_RETURN_float(msg,  48);
 }
 
+/**
+ * @brief Get field time_usec from home_position message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_home_position_get_time_usec(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint64_t(msg,  52);
+}
+
 /**
  * @brief Decode a home_position message into a struct
  *
@@ -422,6 +446,7 @@ static inline void mavlink_msg_home_position_decode(const mavlink_message_t* msg
     home_position->approach_x = mavlink_msg_home_position_get_approach_x(msg);
     home_position->approach_y = mavlink_msg_home_position_get_approach_y(msg);
     home_position->approach_z = mavlink_msg_home_position_get_approach_z(msg);
+    home_position->time_usec = mavlink_msg_home_position_get_time_usec(msg);
 #else
         uint8_t len = msg->len < MAVLINK_MSG_ID_HOME_POSITION_LEN? msg->len : MAVLINK_MSG_ID_HOME_POSITION_LEN;
         memset(home_position, 0, MAVLINK_MSG_ID_HOME_POSITION_LEN);
diff --git a/common/mavlink_msg_set_home_position.h b/common/mavlink_msg_set_home_position.h
index cd7c8d3..4a19156 100644
--- a/common/mavlink_msg_set_home_position.h
+++ b/common/mavlink_msg_set_home_position.h
@@ -16,11 +16,12 @@ typedef struct __mavlink_set_home_position_t {
  float approach_y; /*< Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
  float approach_z; /*< Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
  uint8_t target_system; /*< System ID.*/
+ uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
 }) mavlink_set_home_position_t;
 
-#define MAVLINK_MSG_ID_SET_HOME_POSITION_LEN 53
+#define MAVLINK_MSG_ID_SET_HOME_POSITION_LEN 61
 #define MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN 53
-#define MAVLINK_MSG_ID_243_LEN 53
+#define MAVLINK_MSG_ID_243_LEN 61
 #define MAVLINK_MSG_ID_243_MIN_LEN 53
 
 #define MAVLINK_MSG_ID_SET_HOME_POSITION_CRC 85
@@ -32,7 +33,7 @@ typedef struct __mavlink_set_home_position_t {
 #define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \
     243, \
     "SET_HOME_POSITION", \
-    11, \
+    12, \
     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \
          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \
          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \
@@ -44,12 +45,13 @@ typedef struct __mavlink_set_home_position_t {
          { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \
          { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \
          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \
+         { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 53, offsetof(mavlink_set_home_position_t, time_usec) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \
     "SET_HOME_POSITION", \
-    11, \
+    12, \
     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \
          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \
          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \
@@ -61,6 +63,7 @@ typedef struct __mavlink_set_home_position_t {
          { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \
          { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \
          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \
+         { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 53, offsetof(mavlink_set_home_position_t, time_usec) }, \
          } \
 }
 #endif
@@ -82,10 +85,11 @@ typedef struct __mavlink_set_home_position_t {
  * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_set_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-                               uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
+                               uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN];
@@ -99,6 +103,7 @@ static inline uint16_t mavlink_msg_set_home_position_pack(uint8_t system_id, uin
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
     _mav_put_uint8_t(buf, 52, target_system);
+    _mav_put_uint64_t(buf, 53, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
 #else
@@ -113,6 +118,7 @@ static inline uint16_t mavlink_msg_set_home_position_pack(uint8_t system_id, uin
     packet.approach_y = approach_y;
     packet.approach_z = approach_z;
     packet.target_system = target_system;
+    packet.time_usec = time_usec;
     mav_array_memcpy(packet.q, q, sizeof(float)*4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
 #endif
@@ -138,11 +144,12 @@ static inline uint16_t mavlink_msg_set_home_position_pack(uint8_t system_id, uin
  * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_set_home_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                mavlink_message_t* msg,
-                                   uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z)
+                                   uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z,uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN];
@@ -156,6 +163,7 @@ static inline uint16_t mavlink_msg_set_home_position_pack_chan(uint8_t system_id
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
     _mav_put_uint8_t(buf, 52, target_system);
+    _mav_put_uint64_t(buf, 53, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
 #else
@@ -170,6 +178,7 @@ static inline uint16_t mavlink_msg_set_home_position_pack_chan(uint8_t system_id
     packet.approach_y = approach_y;
     packet.approach_z = approach_z;
     packet.target_system = target_system;
+    packet.time_usec = time_usec;
     mav_array_memcpy(packet.q, q, sizeof(float)*4);
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
 #endif
@@ -188,7 +197,7 @@ static inline uint16_t mavlink_msg_set_home_position_pack_chan(uint8_t system_id
  */
 static inline uint16_t mavlink_msg_set_home_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position)
 {
-    return mavlink_msg_set_home_position_pack(system_id, component_id, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z);
+    return mavlink_msg_set_home_position_pack(system_id, component_id, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z, set_home_position->time_usec);
 }
 
 /**
@@ -202,7 +211,7 @@ static inline uint16_t mavlink_msg_set_home_position_encode(uint8_t system_id, u
  */
 static inline uint16_t mavlink_msg_set_home_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position)
 {
-    return mavlink_msg_set_home_position_pack_chan(system_id, component_id, chan, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z);
+    return mavlink_msg_set_home_position_pack_chan(system_id, component_id, chan, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z, set_home_position->time_usec);
 }
 
 /**
@@ -220,10 +229,11 @@ static inline uint16_t mavlink_msg_set_home_position_encode_chan(uint8_t system_
  * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
  * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
+static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN];
@@ -237,6 +247,7 @@ static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, ui
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
     _mav_put_uint8_t(buf, 52, target_system);
+    _mav_put_uint64_t(buf, 53, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
 #else
@@ -251,6 +262,7 @@ static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, ui
     packet.approach_y = approach_y;
     packet.approach_z = approach_z;
     packet.target_system = target_system;
+    packet.time_usec = time_usec;
     mav_array_memcpy(packet.q, q, sizeof(float)*4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)&packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
 #endif
@@ -264,7 +276,7 @@ static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, ui
 static inline void mavlink_msg_set_home_position_send_struct(mavlink_channel_t chan, const mavlink_set_home_position_t* set_home_position)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_set_home_position_send(chan, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z);
+    mavlink_msg_set_home_position_send(chan, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z, set_home_position->time_usec);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)set_home_position, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
 #endif
@@ -278,7 +290,7 @@ static inline void mavlink_msg_set_home_position_send_struct(mavlink_channel_t c
   is usually the receive buffer for the channel, and allows a reply to an
   incoming message with minimum stack space usage.
  */
-static inline void mavlink_msg_set_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
+static inline void mavlink_msg_set_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
@@ -292,6 +304,7 @@ static inline void mavlink_msg_set_home_position_send_buf(mavlink_message_t *msg
     _mav_put_float(buf, 44, approach_y);
     _mav_put_float(buf, 48, approach_z);
     _mav_put_uint8_t(buf, 52, target_system);
+    _mav_put_uint64_t(buf, 53, time_usec);
     _mav_put_float_array(buf, 24, q, 4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
 #else
@@ -306,6 +319,7 @@ static inline void mavlink_msg_set_home_position_send_buf(mavlink_message_t *msg
     packet->approach_y = approach_y;
     packet->approach_z = approach_z;
     packet->target_system = target_system;
+    packet->time_usec = time_usec;
     mav_array_memcpy(packet->q, q, sizeof(float)*4);
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
 #endif
@@ -427,6 +441,16 @@ static inline float mavlink_msg_set_home_position_get_approach_z(const mavlink_m
     return _MAV_RETURN_float(msg,  48);
 }
 
+/**
+ * @brief Get field time_usec from set_home_position message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_set_home_position_get_time_usec(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint64_t(msg,  53);
+}
+
 /**
  * @brief Decode a set_home_position message into a struct
  *
@@ -447,6 +471,7 @@ static inline void mavlink_msg_set_home_position_decode(const mavlink_message_t*
     set_home_position->approach_y = mavlink_msg_set_home_position_get_approach_y(msg);
     set_home_position->approach_z = mavlink_msg_set_home_position_get_approach_z(msg);
     set_home_position->target_system = mavlink_msg_set_home_position_get_target_system(msg);
+    set_home_position->time_usec = mavlink_msg_set_home_position_get_time_usec(msg);
 #else
         uint8_t len = msg->len < MAVLINK_MSG_ID_SET_HOME_POSITION_LEN? msg->len : MAVLINK_MSG_ID_SET_HOME_POSITION_LEN;
         memset(set_home_position, 0, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
diff --git a/common/testsuite.h b/common/testsuite.h
index 07be0b0..df339ab 100644
--- a/common/testsuite.h
+++ b/common/testsuite.h
@@ -7514,7 +7514,7 @@ static void mavlink_test_home_position(uint8_t system_id, uint8_t component_id,
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
     mavlink_home_position_t packet_in = {
-        963497464,963497672,963497880,101.0,129.0,157.0,{ 185.0, 186.0, 187.0, 188.0 },297.0,325.0,353.0
+        963497464,963497672,963497880,101.0,129.0,157.0,{ 185.0, 186.0, 187.0, 188.0 },297.0,325.0,353.0,93372036854779083ULL
     };
     mavlink_home_position_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -7527,6 +7527,7 @@ static void mavlink_test_home_position(uint8_t system_id, uint8_t component_id,
         packet1.approach_x = packet_in.approach_x;
         packet1.approach_y = packet_in.approach_y;
         packet1.approach_z = packet_in.approach_z;
+        packet1.time_usec = packet_in.time_usec;
         
         mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
         
@@ -7542,12 +7543,12 @@ static void mavlink_test_home_position(uint8_t system_id, uint8_t component_id,
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_home_position_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z );
+    mavlink_msg_home_position_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z , packet1.time_usec );
     mavlink_msg_home_position_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_home_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z );
+    mavlink_msg_home_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z , packet1.time_usec );
     mavlink_msg_home_position_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -7560,7 +7561,7 @@ static void mavlink_test_home_position(uint8_t system_id, uint8_t component_id,
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_home_position_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z );
+    mavlink_msg_home_position_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z , packet1.time_usec );
     mavlink_msg_home_position_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
@@ -7577,7 +7578,7 @@ static void mavlink_test_set_home_position(uint8_t system_id, uint8_t component_
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
     mavlink_set_home_position_t packet_in = {
-        963497464,963497672,963497880,101.0,129.0,157.0,{ 185.0, 186.0, 187.0, 188.0 },297.0,325.0,353.0,161
+        963497464,963497672,963497880,101.0,129.0,157.0,{ 185.0, 186.0, 187.0, 188.0 },297.0,325.0,353.0,161,93372036854779146ULL
     };
     mavlink_set_home_position_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -7591,6 +7592,7 @@ static void mavlink_test_set_home_position(uint8_t system_id, uint8_t component_
         packet1.approach_y = packet_in.approach_y;
         packet1.approach_z = packet_in.approach_z;
         packet1.target_system = packet_in.target_system;
+        packet1.time_usec = packet_in.time_usec;
         
         mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
         
@@ -7606,12 +7608,12 @@ static void mavlink_test_set_home_position(uint8_t system_id, uint8_t component_
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_set_home_position_pack(system_id, component_id, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z );
+    mavlink_msg_set_home_position_pack(system_id, component_id, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z , packet1.time_usec );
     mavlink_msg_set_home_position_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_set_home_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z );
+    mavlink_msg_set_home_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z , packet1.time_usec );
     mavlink_msg_set_home_position_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -7624,7 +7626,7 @@ static void mavlink_test_set_home_position(uint8_t system_id, uint8_t component_
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_set_home_position_send(MAVLINK_COMM_1 , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z );
+    mavlink_msg_set_home_position_send(MAVLINK_COMM_1 , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z , packet1.time_usec );
     mavlink_msg_set_home_position_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
diff --git a/common/version.h b/common/version.h
index 9b40d85..6160f9e 100644
--- a/common/version.h
+++ b/common/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/matrixpilot/version.h b/matrixpilot/version.h
index fbb03c9..af53d3b 100644
--- a/matrixpilot/version.h
+++ b/matrixpilot/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/message_definitions/common.xml b/message_definitions/common.xml
index 26c9303..b2e97cd 100644
--- a/message_definitions/common.xml
+++ b/message_definitions/common.xml
@@ -3867,6 +3867,8 @@
       <field type="float" name="approach_x" units="m">Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
       <field type="float" name="approach_y" units="m">Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
       <field type="float" name="approach_z" units="m">Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <extensions/>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
     </message>
     <message id="243" name="SET_HOME_POSITION">
       <description>The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitely set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.</description>
@@ -3881,6 +3883,8 @@
       <field type="float" name="approach_x" units="m">Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
       <field type="float" name="approach_y" units="m">Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
       <field type="float" name="approach_z" units="m">Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <extensions/>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
     </message>
     <message id="244" name="MESSAGE_INTERVAL">
       <description>This interface replaces DATA_STREAM</description>
diff --git a/minimal/version.h b/minimal/version.h
index 7e3f5e7..600e6df 100644
--- a/minimal/version.h
+++ b/minimal/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
  
diff --git a/slugs/version.h b/slugs/version.h
index ca9e7e6..15f2544 100644
--- a/slugs/version.h
+++ b/slugs/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/standard/version.h b/standard/version.h
index 74e6f71..bd2ce48 100644
--- a/standard/version.h
+++ b/standard/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/test/version.h b/test/version.h
index b2ef4ce..ec635fe 100644
--- a/test/version.h
+++ b/test/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  
diff --git a/uAvionix/version.h b/uAvionix/version.h
index f3a2553..c877e01 100644
--- a/uAvionix/version.h
+++ b/uAvionix/version.h
@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Jun 03 2017"
+#define MAVLINK_BUILD_DATE "Thu Jun 15 2017"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255