diff --git a/proto b/proto
index 1c26809766..aa9dee2b83 160000
--- a/proto
+++ b/proto
@@ -1 +1 @@
-Subproject commit 1c2680976615c2bbb4cbd3b8fdcfd74c6c7ff154
+Subproject commit aa9dee2b83622d5bb92c1f5b799d8a34b86feaed
diff --git a/src/mavsdk_server/src/generated/telemetry/telemetry.pb.cc b/src/mavsdk_server/src/generated/telemetry/telemetry.pb.cc
index 180528800c..3ceda084c6 100644
--- a/src/mavsdk_server/src/generated/telemetry/telemetry.pb.cc
+++ b/src/mavsdk_server/src/generated/telemetry/telemetry.pb.cc
@@ -2935,6 +2935,7 @@ const ::PROTOBUF_NAMESPACE_ID::uint32 TableStruct_telemetry_2ftelemetry_2eproto:
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::Quaternion, x_),
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::Quaternion, y_),
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::Quaternion, z_),
+  PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::Quaternion, timestamp_us_),
   ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::EulerAngle, _internal_metadata_),
   ~0u,  // no _extensions_
@@ -2943,6 +2944,7 @@ const ::PROTOBUF_NAMESPACE_ID::uint32 TableStruct_telemetry_2ftelemetry_2eproto:
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::EulerAngle, roll_deg_),
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::EulerAngle, pitch_deg_),
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::EulerAngle, yaw_deg_),
+  PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::EulerAngle, timestamp_us_),
   ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::AngularVelocityBody, _internal_metadata_),
   ~0u,  // no _extensions_
@@ -3239,31 +3241,31 @@ static const ::PROTOBUF_NAMESPACE_ID::internal::MigrationSchema schemas[] PROTOB
   { 554, -1, sizeof(::mavsdk::rpc::telemetry::GetGpsGlobalOriginResponse)},
   { 561, -1, sizeof(::mavsdk::rpc::telemetry::Position)},
   { 570, -1, sizeof(::mavsdk::rpc::telemetry::Quaternion)},
-  { 579, -1, sizeof(::mavsdk::rpc::telemetry::EulerAngle)},
-  { 587, -1, sizeof(::mavsdk::rpc::telemetry::AngularVelocityBody)},
-  { 595, -1, sizeof(::mavsdk::rpc::telemetry::GpsInfo)},
-  { 602, -1, sizeof(::mavsdk::rpc::telemetry::Battery)},
-  { 609, -1, sizeof(::mavsdk::rpc::telemetry::Health)},
-  { 621, -1, sizeof(::mavsdk::rpc::telemetry::RcStatus)},
-  { 629, -1, sizeof(::mavsdk::rpc::telemetry::StatusText)},
-  { 636, -1, sizeof(::mavsdk::rpc::telemetry::ActuatorControlTarget)},
-  { 643, -1, sizeof(::mavsdk::rpc::telemetry::ActuatorOutputStatus)},
-  { 650, -1, sizeof(::mavsdk::rpc::telemetry::Covariance)},
-  { 656, -1, sizeof(::mavsdk::rpc::telemetry::VelocityBody)},
-  { 664, -1, sizeof(::mavsdk::rpc::telemetry::PositionBody)},
-  { 672, -1, sizeof(::mavsdk::rpc::telemetry::Odometry)},
-  { 686, -1, sizeof(::mavsdk::rpc::telemetry::DistanceSensor)},
-  { 694, -1, sizeof(::mavsdk::rpc::telemetry::PositionNed)},
-  { 702, -1, sizeof(::mavsdk::rpc::telemetry::VelocityNed)},
-  { 710, -1, sizeof(::mavsdk::rpc::telemetry::PositionVelocityNed)},
-  { 717, -1, sizeof(::mavsdk::rpc::telemetry::GroundTruth)},
-  { 725, -1, sizeof(::mavsdk::rpc::telemetry::FixedwingMetrics)},
-  { 733, -1, sizeof(::mavsdk::rpc::telemetry::AccelerationFrd)},
-  { 741, -1, sizeof(::mavsdk::rpc::telemetry::AngularVelocityFrd)},
-  { 749, -1, sizeof(::mavsdk::rpc::telemetry::MagneticFieldFrd)},
-  { 757, -1, sizeof(::mavsdk::rpc::telemetry::Imu)},
-  { 766, -1, sizeof(::mavsdk::rpc::telemetry::GpsGlobalOrigin)},
-  { 774, -1, sizeof(::mavsdk::rpc::telemetry::TelemetryResult)},
+  { 580, -1, sizeof(::mavsdk::rpc::telemetry::EulerAngle)},
+  { 589, -1, sizeof(::mavsdk::rpc::telemetry::AngularVelocityBody)},
+  { 597, -1, sizeof(::mavsdk::rpc::telemetry::GpsInfo)},
+  { 604, -1, sizeof(::mavsdk::rpc::telemetry::Battery)},
+  { 611, -1, sizeof(::mavsdk::rpc::telemetry::Health)},
+  { 623, -1, sizeof(::mavsdk::rpc::telemetry::RcStatus)},
+  { 631, -1, sizeof(::mavsdk::rpc::telemetry::StatusText)},
+  { 638, -1, sizeof(::mavsdk::rpc::telemetry::ActuatorControlTarget)},
+  { 645, -1, sizeof(::mavsdk::rpc::telemetry::ActuatorOutputStatus)},
+  { 652, -1, sizeof(::mavsdk::rpc::telemetry::Covariance)},
+  { 658, -1, sizeof(::mavsdk::rpc::telemetry::VelocityBody)},
+  { 666, -1, sizeof(::mavsdk::rpc::telemetry::PositionBody)},
+  { 674, -1, sizeof(::mavsdk::rpc::telemetry::Odometry)},
+  { 688, -1, sizeof(::mavsdk::rpc::telemetry::DistanceSensor)},
+  { 696, -1, sizeof(::mavsdk::rpc::telemetry::PositionNed)},
+  { 704, -1, sizeof(::mavsdk::rpc::telemetry::VelocityNed)},
+  { 712, -1, sizeof(::mavsdk::rpc::telemetry::PositionVelocityNed)},
+  { 719, -1, sizeof(::mavsdk::rpc::telemetry::GroundTruth)},
+  { 727, -1, sizeof(::mavsdk::rpc::telemetry::FixedwingMetrics)},
+  { 735, -1, sizeof(::mavsdk::rpc::telemetry::AccelerationFrd)},
+  { 743, -1, sizeof(::mavsdk::rpc::telemetry::AngularVelocityFrd)},
+  { 751, -1, sizeof(::mavsdk::rpc::telemetry::MagneticFieldFrd)},
+  { 759, -1, sizeof(::mavsdk::rpc::telemetry::Imu)},
+  { 768, -1, sizeof(::mavsdk::rpc::telemetry::GpsGlobalOrigin)},
+  { 776, -1, sizeof(::mavsdk::rpc::telemetry::TelemetryResult)},
 };
 
 static ::PROTOBUF_NAMESPACE_ID::Message const * const file_default_instances[] = {
@@ -3554,267 +3556,268 @@ const char descriptor_table_protodef_telemetry_2ftelemetry_2eproto[] PROTOBUF_SE
   "\n\014latitude_deg\030\001 \001(\001B\007\202\265\030\003NaN\022\036\n\rlongitu"
   "de_deg\030\002 \001(\001B\007\202\265\030\003NaN\022$\n\023absolute_altitu"
   "de_m\030\003 \001(\002B\007\202\265\030\003NaN\022$\n\023relative_altitude"
-  "_m\030\004 \001(\002B\007\202\265\030\003NaN\"\\\n\nQuaternion\022\022\n\001w\030\001 \001"
+  "_m\030\004 \001(\002B\007\202\265\030\003NaN\"r\n\nQuaternion\022\022\n\001w\030\001 \001"
   "(\002B\007\202\265\030\003NaN\022\022\n\001x\030\002 \001(\002B\007\202\265\030\003NaN\022\022\n\001y\030\003 \001"
-  "(\002B\007\202\265\030\003NaN\022\022\n\001z\030\004 \001(\002B\007\202\265\030\003NaN\"]\n\nEuler"
-  "Angle\022\031\n\010roll_deg\030\001 \001(\002B\007\202\265\030\003NaN\022\032\n\tpitc"
-  "h_deg\030\002 \001(\002B\007\202\265\030\003NaN\022\030\n\007yaw_deg\030\003 \001(\002B\007\202"
-  "\265\030\003NaN\"l\n\023AngularVelocityBody\022\033\n\nroll_ra"
-  "d_s\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013pitch_rad_s\030\002 \001(\002B"
-  "\007\202\265\030\003NaN\022\032\n\tyaw_rad_s\030\003 \001(\002B\007\202\265\030\003NaN\"Y\n\007"
-  "GpsInfo\022\035\n\016num_satellites\030\001 \001(\005B\005\202\265\030\0010\022/"
-  "\n\010fix_type\030\002 \001(\0162\035.mavsdk.rpc.telemetry."
-  "FixType\"I\n\007Battery\022\032\n\tvoltage_v\030\001 \001(\002B\007\202"
-  "\265\030\003NaN\022\"\n\021remaining_percent\030\002 \001(\002B\007\202\265\030\003N"
-  "aN\"\306\002\n\006Health\022.\n\033is_gyrometer_calibratio"
-  "n_ok\030\001 \001(\010B\t\202\265\030\005false\0222\n\037is_acceleromete"
-  "r_calibration_ok\030\002 \001(\010B\t\202\265\030\005false\0221\n\036is_"
-  "magnetometer_calibration_ok\030\003 \001(\010B\t\202\265\030\005f"
-  "alse\022*\n\027is_level_calibration_ok\030\004 \001(\010B\t\202"
-  "\265\030\005false\022\'\n\024is_local_position_ok\030\005 \001(\010B\t"
-  "\202\265\030\005false\022(\n\025is_global_position_ok\030\006 \001(\010"
-  "B\t\202\265\030\005false\022&\n\023is_home_position_ok\030\007 \001(\010"
-  "B\t\202\265\030\005false\"z\n\010RcStatus\022%\n\022was_available"
-  "_once\030\001 \001(\010B\t\202\265\030\005false\022\037\n\014is_available\030\002"
-  " \001(\010B\t\202\265\030\005false\022&\n\027signal_strength_perce"
-  "nt\030\003 \001(\002B\005\202\265\030\0010\"N\n\nStatusText\0222\n\004type\030\001 "
-  "\001(\0162$.mavsdk.rpc.telemetry.StatusTextTyp"
-  "e\022\014\n\004text\030\002 \001(\t\"\?\n\025ActuatorControlTarget"
-  "\022\024\n\005group\030\001 \001(\005B\005\202\265\030\0010\022\020\n\010controls\030\002 \003(\002"
-  "\"\?\n\024ActuatorOutputStatus\022\025\n\006active\030\001 \001(\r"
-  "B\005\202\265\030\0010\022\020\n\010actuator\030\002 \003(\002\"\'\n\nCovariance\022"
-  "\031\n\021covariance_matrix\030\001 \003(\002\";\n\014VelocityBo"
-  "dy\022\r\n\005x_m_s\030\001 \001(\002\022\r\n\005y_m_s\030\002 \001(\002\022\r\n\005z_m_"
-  "s\030\003 \001(\002\"5\n\014PositionBody\022\013\n\003x_m\030\001 \001(\002\022\013\n\003"
-  "y_m\030\002 \001(\002\022\013\n\003z_m\030\003 \001(\002\"\354\004\n\010Odometry\022\021\n\tt"
-  "ime_usec\030\001 \001(\004\0229\n\010frame_id\030\002 \001(\0162\'.mavsd"
-  "k.rpc.telemetry.Odometry.MavFrame\022\?\n\016chi"
-  "ld_frame_id\030\003 \001(\0162\'.mavsdk.rpc.telemetry"
-  ".Odometry.MavFrame\0229\n\rposition_body\030\004 \001("
-  "\0132\".mavsdk.rpc.telemetry.PositionBody\022+\n"
-  "\001q\030\005 \001(\0132 .mavsdk.rpc.telemetry.Quaterni"
-  "on\0229\n\rvelocity_body\030\006 \001(\0132\".mavsdk.rpc.t"
-  "elemetry.VelocityBody\022H\n\025angular_velocit"
-  "y_body\030\007 \001(\0132).mavsdk.rpc.telemetry.Angu"
-  "larVelocityBody\0229\n\017pose_covariance\030\010 \001(\013"
-  "2 .mavsdk.rpc.telemetry.Covariance\022=\n\023ve"
-  "locity_covariance\030\t \001(\0132 .mavsdk.rpc.tel"
-  "emetry.Covariance\"j\n\010MavFrame\022\023\n\017MAV_FRA"
-  "ME_UNDEF\020\000\022\026\n\022MAV_FRAME_BODY_NED\020\010\022\030\n\024MA"
-  "V_FRAME_VISION_NED\020\020\022\027\n\023MAV_FRAME_ESTIM_"
-  "NED\020\022\"\177\n\016DistanceSensor\022#\n\022minimum_dista"
-  "nce_m\030\001 \001(\002B\007\202\265\030\003NaN\022#\n\022maximum_distance"
-  "_m\030\002 \001(\002B\007\202\265\030\003NaN\022#\n\022current_distance_m\030"
-  "\003 \001(\002B\007\202\265\030\003NaN\"Y\n\013PositionNed\022\030\n\007north_m"
-  "\030\001 \001(\002B\007\202\265\030\003NaN\022\027\n\006east_m\030\002 \001(\002B\007\202\265\030\003NaN"
-  "\022\027\n\006down_m\030\003 \001(\002B\007\202\265\030\003NaN\"D\n\013VelocityNed"
-  "\022\021\n\tnorth_m_s\030\001 \001(\002\022\020\n\010east_m_s\030\002 \001(\002\022\020\n"
-  "\010down_m_s\030\003 \001(\002\"\177\n\023PositionVelocityNed\0223"
-  "\n\010position\030\001 \001(\0132!.mavsdk.rpc.telemetry."
-  "PositionNed\0223\n\010velocity\030\002 \001(\0132!.mavsdk.r"
-  "pc.telemetry.VelocityNed\"r\n\013GroundTruth\022"
-  "\035\n\014latitude_deg\030\001 \001(\001B\007\202\265\030\003NaN\022\036\n\rlongit"
-  "ude_deg\030\002 \001(\001B\007\202\265\030\003NaN\022$\n\023absolute_altit"
-  "ude_m\030\003 \001(\002B\007\202\265\030\003NaN\"x\n\020FixedwingMetrics"
-  "\022\035\n\014airspeed_m_s\030\001 \001(\002B\007\202\265\030\003NaN\022$\n\023throt"
-  "tle_percentage\030\002 \001(\002B\007\202\265\030\003NaN\022\037\n\016climb_r"
-  "ate_m_s\030\003 \001(\002B\007\202\265\030\003NaN\"i\n\017AccelerationFr"
-  "d\022\035\n\014forward_m_s2\030\001 \001(\002B\007\202\265\030\003NaN\022\033\n\nrigh"
-  "t_m_s2\030\002 \001(\002B\007\202\265\030\003NaN\022\032\n\tdown_m_s2\030\003 \001(\002"
-  "B\007\202\265\030\003NaN\"o\n\022AngularVelocityFrd\022\036\n\rforwa"
-  "rd_rad_s\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013right_rad_s\030\002"
-  " \001(\002B\007\202\265\030\003NaN\022\033\n\ndown_rad_s\030\003 \001(\002B\007\202\265\030\003N"
-  "aN\"m\n\020MagneticFieldFrd\022\036\n\rforward_gauss\030"
-  "\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013right_gauss\030\002 \001(\002B\007\202\265\030"
-  "\003NaN\022\033\n\ndown_gauss\030\003 \001(\002B\007\202\265\030\003NaN\"\365\001\n\003Im"
-  "u\022\?\n\020acceleration_frd\030\001 \001(\0132%.mavsdk.rpc"
-  ".telemetry.AccelerationFrd\022F\n\024angular_ve"
-  "locity_frd\030\002 \001(\0132(.mavsdk.rpc.telemetry."
-  "AngularVelocityFrd\022B\n\022magnetic_field_frd"
-  "\030\003 \001(\0132&.mavsdk.rpc.telemetry.MagneticFi"
-  "eldFrd\022!\n\020temperature_degc\030\004 \001(\002B\007\202\265\030\003Na"
-  "N\"m\n\017GpsGlobalOrigin\022\035\n\014latitude_deg\030\001 \001"
-  "(\001B\007\202\265\030\003NaN\022\036\n\rlongitude_deg\030\002 \001(\001B\007\202\265\030\003"
-  "NaN\022\033\n\naltitude_m\030\003 \001(\002B\007\202\265\030\003NaN\"\211\002\n\017Tel"
-  "emetryResult\022<\n\006result\030\001 \001(\0162,.mavsdk.rp"
-  "c.telemetry.TelemetryResult.Result\022\022\n\nre"
-  "sult_str\030\002 \001(\t\"\243\001\n\006Result\022\022\n\016RESULT_UNKN"
-  "OWN\020\000\022\022\n\016RESULT_SUCCESS\020\001\022\024\n\020RESULT_NO_S"
-  "YSTEM\020\002\022\033\n\027RESULT_CONNECTION_ERROR\020\003\022\017\n\013"
-  "RESULT_BUSY\020\004\022\031\n\025RESULT_COMMAND_DENIED\020\005"
-  "\022\022\n\016RESULT_TIMEOUT\020\006*\244\001\n\007FixType\022\023\n\017FIX_"
-  "TYPE_NO_GPS\020\000\022\023\n\017FIX_TYPE_NO_FIX\020\001\022\023\n\017FI"
-  "X_TYPE_FIX_2D\020\002\022\023\n\017FIX_TYPE_FIX_3D\020\003\022\025\n\021"
-  "FIX_TYPE_FIX_DGPS\020\004\022\026\n\022FIX_TYPE_RTK_FLOA"
-  "T\020\005\022\026\n\022FIX_TYPE_RTK_FIXED\020\006*\206\003\n\nFlightMo"
-  "de\022\027\n\023FLIGHT_MODE_UNKNOWN\020\000\022\025\n\021FLIGHT_MO"
-  "DE_READY\020\001\022\027\n\023FLIGHT_MODE_TAKEOFF\020\002\022\024\n\020F"
-  "LIGHT_MODE_HOLD\020\003\022\027\n\023FLIGHT_MODE_MISSION"
-  "\020\004\022 \n\034FLIGHT_MODE_RETURN_TO_LAUNCH\020\005\022\024\n\020"
-  "FLIGHT_MODE_LAND\020\006\022\030\n\024FLIGHT_MODE_OFFBOA"
-  "RD\020\007\022\031\n\025FLIGHT_MODE_FOLLOW_ME\020\010\022\026\n\022FLIGH"
-  "T_MODE_MANUAL\020\t\022\026\n\022FLIGHT_MODE_ALTCTL\020\n\022"
-  "\026\n\022FLIGHT_MODE_POSCTL\020\013\022\024\n\020FLIGHT_MODE_A"
-  "CRO\020\014\022\032\n\026FLIGHT_MODE_STABILIZED\020\r\022\031\n\025FLI"
-  "GHT_MODE_RATTITUDE\020\016*\371\001\n\016StatusTextType\022"
-  "\032\n\026STATUS_TEXT_TYPE_DEBUG\020\000\022\031\n\025STATUS_TE"
-  "XT_TYPE_INFO\020\001\022\033\n\027STATUS_TEXT_TYPE_NOTIC"
-  "E\020\002\022\034\n\030STATUS_TEXT_TYPE_WARNING\020\003\022\032\n\026STA"
-  "TUS_TEXT_TYPE_ERROR\020\004\022\035\n\031STATUS_TEXT_TYP"
-  "E_CRITICAL\020\005\022\032\n\026STATUS_TEXT_TYPE_ALERT\020\006"
-  "\022\036\n\032STATUS_TEXT_TYPE_EMERGENCY\020\007*\223\001\n\013Lan"
-  "dedState\022\030\n\024LANDED_STATE_UNKNOWN\020\000\022\032\n\026LA"
-  "NDED_STATE_ON_GROUND\020\001\022\027\n\023LANDED_STATE_I"
-  "N_AIR\020\002\022\033\n\027LANDED_STATE_TAKING_OFF\020\003\022\030\n\024"
-  "LANDED_STATE_LANDING\020\0042\370-\n\020TelemetryServ"
-  "ice\022o\n\021SubscribePosition\022..mavsdk.rpc.te"
-  "lemetry.SubscribePositionRequest\032&.mavsd"
-  "k.rpc.telemetry.PositionResponse\"\0000\001\022c\n\r"
-  "SubscribeHome\022*.mavsdk.rpc.telemetry.Sub"
-  "scribeHomeRequest\032\".mavsdk.rpc.telemetry"
-  ".HomeResponse\"\0000\001\022f\n\016SubscribeInAir\022+.ma"
-  "vsdk.rpc.telemetry.SubscribeInAirRequest"
-  "\032#.mavsdk.rpc.telemetry.InAirResponse\"\0000"
-  "\001\022x\n\024SubscribeLandedState\0221.mavsdk.rpc.t"
-  "elemetry.SubscribeLandedStateRequest\032).m"
-  "avsdk.rpc.telemetry.LandedStateResponse\""
-  "\0000\001\022f\n\016SubscribeArmed\022+.mavsdk.rpc.telem"
-  "etry.SubscribeArmedRequest\032#.mavsdk.rpc."
-  "telemetry.ArmedResponse\"\0000\001\022\215\001\n\033Subscrib"
-  "eAttitudeQuaternion\0228.mavsdk.rpc.telemet"
-  "ry.SubscribeAttitudeQuaternionRequest\0320."
-  "mavsdk.rpc.telemetry.AttitudeQuaternionR"
-  "esponse\"\0000\001\022~\n\026SubscribeAttitudeEuler\0223."
-  "mavsdk.rpc.telemetry.SubscribeAttitudeEu"
-  "lerRequest\032+.mavsdk.rpc.telemetry.Attitu"
-  "deEulerResponse\"\0000\001\022\250\001\n$SubscribeAttitud"
-  "eAngularVelocityBody\022A.mavsdk.rpc.teleme"
-  "try.SubscribeAttitudeAngularVelocityBody"
-  "Request\0329.mavsdk.rpc.telemetry.AttitudeA"
-  "ngularVelocityBodyResponse\"\0000\001\022\237\001\n!Subsc"
-  "ribeCameraAttitudeQuaternion\022>.mavsdk.rp"
-  "c.telemetry.SubscribeCameraAttitudeQuate"
-  "rnionRequest\0326.mavsdk.rpc.telemetry.Came"
-  "raAttitudeQuaternionResponse\"\0000\001\022\220\001\n\034Sub"
-  "scribeCameraAttitudeEuler\0229.mavsdk.rpc.t"
-  "elemetry.SubscribeCameraAttitudeEulerReq"
-  "uest\0321.mavsdk.rpc.telemetry.CameraAttitu"
-  "deEulerResponse\"\0000\001\022x\n\024SubscribeVelocity"
-  "Ned\0221.mavsdk.rpc.telemetry.SubscribeVelo"
-  "cityNedRequest\032).mavsdk.rpc.telemetry.Ve"
-  "locityNedResponse\"\0000\001\022l\n\020SubscribeGpsInf"
-  "o\022-.mavsdk.rpc.telemetry.SubscribeGpsInf"
-  "oRequest\032%.mavsdk.rpc.telemetry.GpsInfoR"
-  "esponse\"\0000\001\022l\n\020SubscribeBattery\022-.mavsdk"
-  ".rpc.telemetry.SubscribeBatteryRequest\032%"
-  ".mavsdk.rpc.telemetry.BatteryResponse\"\0000"
-  "\001\022u\n\023SubscribeFlightMode\0220.mavsdk.rpc.te"
-  "lemetry.SubscribeFlightModeRequest\032(.mav"
-  "sdk.rpc.telemetry.FlightModeResponse\"\0000\001"
-  "\022i\n\017SubscribeHealth\022,.mavsdk.rpc.telemet"
-  "ry.SubscribeHealthRequest\032$.mavsdk.rpc.t"
-  "elemetry.HealthResponse\"\0000\001\022o\n\021Subscribe"
-  "RcStatus\022..mavsdk.rpc.telemetry.Subscrib"
-  "eRcStatusRequest\032&.mavsdk.rpc.telemetry."
-  "RcStatusResponse\"\0000\001\022u\n\023SubscribeStatusT"
-  "ext\0220.mavsdk.rpc.telemetry.SubscribeStat"
-  "usTextRequest\032(.mavsdk.rpc.telemetry.Sta"
-  "tusTextResponse\"\0000\001\022\226\001\n\036SubscribeActuato"
-  "rControlTarget\022;.mavsdk.rpc.telemetry.Su"
-  "bscribeActuatorControlTargetRequest\0323.ma"
-  "vsdk.rpc.telemetry.ActuatorControlTarget"
-  "Response\"\0000\001\022\223\001\n\035SubscribeActuatorOutput"
-  "Status\022:.mavsdk.rpc.telemetry.SubscribeA"
-  "ctuatorOutputStatusRequest\0322.mavsdk.rpc."
-  "telemetry.ActuatorOutputStatusResponse\"\000"
-  "0\001\022o\n\021SubscribeOdometry\022..mavsdk.rpc.tel"
-  "emetry.SubscribeOdometryRequest\032&.mavsdk"
-  ".rpc.telemetry.OdometryResponse\"\0000\001\022\220\001\n\034"
-  "SubscribePositionVelocityNed\0229.mavsdk.rp"
-  "c.telemetry.SubscribePositionVelocityNed"
-  "Request\0321.mavsdk.rpc.telemetry.PositionV"
-  "elocityNedResponse\"\0000\001\022x\n\024SubscribeGroun"
-  "dTruth\0221.mavsdk.rpc.telemetry.SubscribeG"
-  "roundTruthRequest\032).mavsdk.rpc.telemetry"
-  ".GroundTruthResponse\"\0000\001\022\207\001\n\031SubscribeFi"
-  "xedwingMetrics\0226.mavsdk.rpc.telemetry.Su"
-  "bscribeFixedwingMetricsRequest\032..mavsdk."
-  "rpc.telemetry.FixedwingMetricsResponse\"\000"
-  "0\001\022`\n\014SubscribeImu\022).mavsdk.rpc.telemetr"
-  "y.SubscribeImuRequest\032!.mavsdk.rpc.telem"
-  "etry.ImuResponse\"\0000\001\022x\n\024SubscribeHealthA"
-  "llOk\0221.mavsdk.rpc.telemetry.SubscribeHea"
-  "lthAllOkRequest\032).mavsdk.rpc.telemetry.H"
-  "ealthAllOkResponse\"\0000\001\022~\n\026SubscribeUnixE"
-  "pochTime\0223.mavsdk.rpc.telemetry.Subscrib"
-  "eUnixEpochTimeRequest\032+.mavsdk.rpc.telem"
-  "etry.UnixEpochTimeResponse\"\0000\001\022\201\001\n\027Subsc"
-  "ribeDistanceSensor\0224.mavsdk.rpc.telemetr"
-  "y.SubscribeDistanceSensorRequest\032,.mavsd"
-  "k.rpc.telemetry.DistanceSensorResponse\"\000"
-  "0\001\022p\n\017SetRatePosition\022,.mavsdk.rpc.telem"
-  "etry.SetRatePositionRequest\032-.mavsdk.rpc"
-  ".telemetry.SetRatePositionResponse\"\000\022d\n\013"
-  "SetRateHome\022(.mavsdk.rpc.telemetry.SetRa"
-  "teHomeRequest\032).mavsdk.rpc.telemetry.Set"
-  "RateHomeResponse\"\000\022g\n\014SetRateInAir\022).mav"
-  "sdk.rpc.telemetry.SetRateInAirRequest\032*."
-  "mavsdk.rpc.telemetry.SetRateInAirRespons"
-  "e\"\000\022y\n\022SetRateLandedState\022/.mavsdk.rpc.t"
-  "elemetry.SetRateLandedStateRequest\0320.mav"
-  "sdk.rpc.telemetry.SetRateLandedStateResp"
-  "onse\"\000\022p\n\017SetRateAttitude\022,.mavsdk.rpc.t"
-  "elemetry.SetRateAttitudeRequest\032-.mavsdk"
-  ".rpc.telemetry.SetRateAttitudeResponse\"\000"
-  "\022\202\001\n\025SetRateCameraAttitude\0222.mavsdk.rpc."
-  "telemetry.SetRateCameraAttitudeRequest\0323"
-  ".mavsdk.rpc.telemetry.SetRateCameraAttit"
-  "udeResponse\"\000\022y\n\022SetRateVelocityNed\022/.ma"
-  "vsdk.rpc.telemetry.SetRateVelocityNedReq"
-  "uest\0320.mavsdk.rpc.telemetry.SetRateVeloc"
-  "ityNedResponse\"\000\022m\n\016SetRateGpsInfo\022+.mav"
-  "sdk.rpc.telemetry.SetRateGpsInfoRequest\032"
-  ",.mavsdk.rpc.telemetry.SetRateGpsInfoRes"
-  "ponse\"\000\022m\n\016SetRateBattery\022+.mavsdk.rpc.t"
-  "elemetry.SetRateBatteryRequest\032,.mavsdk."
-  "rpc.telemetry.SetRateBatteryResponse\"\000\022p"
-  "\n\017SetRateRcStatus\022,.mavsdk.rpc.telemetry"
-  ".SetRateRcStatusRequest\032-.mavsdk.rpc.tel"
-  "emetry.SetRateRcStatusResponse\"\000\022\227\001\n\034Set"
-  "RateActuatorControlTarget\0229.mavsdk.rpc.t"
-  "elemetry.SetRateActuatorControlTargetReq"
-  "uest\032:.mavsdk.rpc.telemetry.SetRateActua"
-  "torControlTargetResponse\"\000\022\224\001\n\033SetRateAc"
-  "tuatorOutputStatus\0228.mavsdk.rpc.telemetr"
-  "y.SetRateActuatorOutputStatusRequest\0329.m"
-  "avsdk.rpc.telemetry.SetRateActuatorOutpu"
-  "tStatusResponse\"\000\022p\n\017SetRateOdometry\022,.m"
-  "avsdk.rpc.telemetry.SetRateOdometryReque"
-  "st\032-.mavsdk.rpc.telemetry.SetRateOdometr"
-  "yResponse\"\000\022\221\001\n\032SetRatePositionVelocityN"
-  "ed\0227.mavsdk.rpc.telemetry.SetRatePositio"
-  "nVelocityNedRequest\0328.mavsdk.rpc.telemet"
-  "ry.SetRatePositionVelocityNedResponse\"\000\022"
-  "y\n\022SetRateGroundTruth\022/.mavsdk.rpc.telem"
-  "etry.SetRateGroundTruthRequest\0320.mavsdk."
-  "rpc.telemetry.SetRateGroundTruthResponse"
-  "\"\000\022\210\001\n\027SetRateFixedwingMetrics\0224.mavsdk."
-  "rpc.telemetry.SetRateFixedwingMetricsReq"
-  "uest\0325.mavsdk.rpc.telemetry.SetRateFixed"
-  "wingMetricsResponse\"\000\022a\n\nSetRateImu\022\'.ma"
-  "vsdk.rpc.telemetry.SetRateImuRequest\032(.m"
-  "avsdk.rpc.telemetry.SetRateImuResponse\"\000"
-  "\022\177\n\024SetRateUnixEpochTime\0221.mavsdk.rpc.te"
-  "lemetry.SetRateUnixEpochTimeRequest\0322.ma"
-  "vsdk.rpc.telemetry.SetRateUnixEpochTimeR"
-  "esponse\"\000\022\202\001\n\025SetRateDistanceSensor\0222.ma"
-  "vsdk.rpc.telemetry.SetRateDistanceSensor"
-  "Request\0323.mavsdk.rpc.telemetry.SetRateDi"
-  "stanceSensorResponse\"\000\022y\n\022GetGpsGlobalOr"
-  "igin\022/.mavsdk.rpc.telemetry.GetGpsGlobal"
-  "OriginRequest\0320.mavsdk.rpc.telemetry.Get"
-  "GpsGlobalOriginResponse\"\000B%\n\023io.mavsdk.t"
-  "elemetryB\016TelemetryProtob\006proto3"
+  "(\002B\007\202\265\030\003NaN\022\022\n\001z\030\004 \001(\002B\007\202\265\030\003NaN\022\024\n\014times"
+  "tamp_us\030\005 \001(\004\"s\n\nEulerAngle\022\031\n\010roll_deg\030"
+  "\001 \001(\002B\007\202\265\030\003NaN\022\032\n\tpitch_deg\030\002 \001(\002B\007\202\265\030\003N"
+  "aN\022\030\n\007yaw_deg\030\003 \001(\002B\007\202\265\030\003NaN\022\024\n\014timestam"
+  "p_us\030\004 \001(\004\"l\n\023AngularVelocityBody\022\033\n\nrol"
+  "l_rad_s\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013pitch_rad_s\030\002 "
+  "\001(\002B\007\202\265\030\003NaN\022\032\n\tyaw_rad_s\030\003 \001(\002B\007\202\265\030\003NaN"
+  "\"Y\n\007GpsInfo\022\035\n\016num_satellites\030\001 \001(\005B\005\202\265\030"
+  "\0010\022/\n\010fix_type\030\002 \001(\0162\035.mavsdk.rpc.teleme"
+  "try.FixType\"I\n\007Battery\022\032\n\tvoltage_v\030\001 \001("
+  "\002B\007\202\265\030\003NaN\022\"\n\021remaining_percent\030\002 \001(\002B\007\202"
+  "\265\030\003NaN\"\306\002\n\006Health\022.\n\033is_gyrometer_calibr"
+  "ation_ok\030\001 \001(\010B\t\202\265\030\005false\0222\n\037is_accelero"
+  "meter_calibration_ok\030\002 \001(\010B\t\202\265\030\005false\0221\n"
+  "\036is_magnetometer_calibration_ok\030\003 \001(\010B\t\202"
+  "\265\030\005false\022*\n\027is_level_calibration_ok\030\004 \001("
+  "\010B\t\202\265\030\005false\022\'\n\024is_local_position_ok\030\005 \001"
+  "(\010B\t\202\265\030\005false\022(\n\025is_global_position_ok\030\006"
+  " \001(\010B\t\202\265\030\005false\022&\n\023is_home_position_ok\030\007"
+  " \001(\010B\t\202\265\030\005false\"z\n\010RcStatus\022%\n\022was_avail"
+  "able_once\030\001 \001(\010B\t\202\265\030\005false\022\037\n\014is_availab"
+  "le\030\002 \001(\010B\t\202\265\030\005false\022&\n\027signal_strength_p"
+  "ercent\030\003 \001(\002B\005\202\265\030\0010\"N\n\nStatusText\0222\n\004typ"
+  "e\030\001 \001(\0162$.mavsdk.rpc.telemetry.StatusTex"
+  "tType\022\014\n\004text\030\002 \001(\t\"\?\n\025ActuatorControlTa"
+  "rget\022\024\n\005group\030\001 \001(\005B\005\202\265\030\0010\022\020\n\010controls\030\002"
+  " \003(\002\"\?\n\024ActuatorOutputStatus\022\025\n\006active\030\001"
+  " \001(\rB\005\202\265\030\0010\022\020\n\010actuator\030\002 \003(\002\"\'\n\nCovaria"
+  "nce\022\031\n\021covariance_matrix\030\001 \003(\002\";\n\014Veloci"
+  "tyBody\022\r\n\005x_m_s\030\001 \001(\002\022\r\n\005y_m_s\030\002 \001(\002\022\r\n\005"
+  "z_m_s\030\003 \001(\002\"5\n\014PositionBody\022\013\n\003x_m\030\001 \001(\002"
+  "\022\013\n\003y_m\030\002 \001(\002\022\013\n\003z_m\030\003 \001(\002\"\354\004\n\010Odometry\022"
+  "\021\n\ttime_usec\030\001 \001(\004\0229\n\010frame_id\030\002 \001(\0162\'.m"
+  "avsdk.rpc.telemetry.Odometry.MavFrame\022\?\n"
+  "\016child_frame_id\030\003 \001(\0162\'.mavsdk.rpc.telem"
+  "etry.Odometry.MavFrame\0229\n\rposition_body\030"
+  "\004 \001(\0132\".mavsdk.rpc.telemetry.PositionBod"
+  "y\022+\n\001q\030\005 \001(\0132 .mavsdk.rpc.telemetry.Quat"
+  "ernion\0229\n\rvelocity_body\030\006 \001(\0132\".mavsdk.r"
+  "pc.telemetry.VelocityBody\022H\n\025angular_vel"
+  "ocity_body\030\007 \001(\0132).mavsdk.rpc.telemetry."
+  "AngularVelocityBody\0229\n\017pose_covariance\030\010"
+  " \001(\0132 .mavsdk.rpc.telemetry.Covariance\022="
+  "\n\023velocity_covariance\030\t \001(\0132 .mavsdk.rpc"
+  ".telemetry.Covariance\"j\n\010MavFrame\022\023\n\017MAV"
+  "_FRAME_UNDEF\020\000\022\026\n\022MAV_FRAME_BODY_NED\020\010\022\030"
+  "\n\024MAV_FRAME_VISION_NED\020\020\022\027\n\023MAV_FRAME_ES"
+  "TIM_NED\020\022\"\177\n\016DistanceSensor\022#\n\022minimum_d"
+  "istance_m\030\001 \001(\002B\007\202\265\030\003NaN\022#\n\022maximum_dist"
+  "ance_m\030\002 \001(\002B\007\202\265\030\003NaN\022#\n\022current_distanc"
+  "e_m\030\003 \001(\002B\007\202\265\030\003NaN\"Y\n\013PositionNed\022\030\n\007nor"
+  "th_m\030\001 \001(\002B\007\202\265\030\003NaN\022\027\n\006east_m\030\002 \001(\002B\007\202\265\030"
+  "\003NaN\022\027\n\006down_m\030\003 \001(\002B\007\202\265\030\003NaN\"D\n\013Velocit"
+  "yNed\022\021\n\tnorth_m_s\030\001 \001(\002\022\020\n\010east_m_s\030\002 \001("
+  "\002\022\020\n\010down_m_s\030\003 \001(\002\"\177\n\023PositionVelocityN"
+  "ed\0223\n\010position\030\001 \001(\0132!.mavsdk.rpc.teleme"
+  "try.PositionNed\0223\n\010velocity\030\002 \001(\0132!.mavs"
+  "dk.rpc.telemetry.VelocityNed\"r\n\013GroundTr"
+  "uth\022\035\n\014latitude_deg\030\001 \001(\001B\007\202\265\030\003NaN\022\036\n\rlo"
+  "ngitude_deg\030\002 \001(\001B\007\202\265\030\003NaN\022$\n\023absolute_a"
+  "ltitude_m\030\003 \001(\002B\007\202\265\030\003NaN\"x\n\020FixedwingMet"
+  "rics\022\035\n\014airspeed_m_s\030\001 \001(\002B\007\202\265\030\003NaN\022$\n\023t"
+  "hrottle_percentage\030\002 \001(\002B\007\202\265\030\003NaN\022\037\n\016cli"
+  "mb_rate_m_s\030\003 \001(\002B\007\202\265\030\003NaN\"i\n\017Accelerati"
+  "onFrd\022\035\n\014forward_m_s2\030\001 \001(\002B\007\202\265\030\003NaN\022\033\n\n"
+  "right_m_s2\030\002 \001(\002B\007\202\265\030\003NaN\022\032\n\tdown_m_s2\030\003"
+  " \001(\002B\007\202\265\030\003NaN\"o\n\022AngularVelocityFrd\022\036\n\rf"
+  "orward_rad_s\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013right_rad"
+  "_s\030\002 \001(\002B\007\202\265\030\003NaN\022\033\n\ndown_rad_s\030\003 \001(\002B\007\202"
+  "\265\030\003NaN\"m\n\020MagneticFieldFrd\022\036\n\rforward_ga"
+  "uss\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013right_gauss\030\002 \001(\002B"
+  "\007\202\265\030\003NaN\022\033\n\ndown_gauss\030\003 \001(\002B\007\202\265\030\003NaN\"\365\001"
+  "\n\003Imu\022\?\n\020acceleration_frd\030\001 \001(\0132%.mavsdk"
+  ".rpc.telemetry.AccelerationFrd\022F\n\024angula"
+  "r_velocity_frd\030\002 \001(\0132(.mavsdk.rpc.teleme"
+  "try.AngularVelocityFrd\022B\n\022magnetic_field"
+  "_frd\030\003 \001(\0132&.mavsdk.rpc.telemetry.Magnet"
+  "icFieldFrd\022!\n\020temperature_degc\030\004 \001(\002B\007\202\265"
+  "\030\003NaN\"m\n\017GpsGlobalOrigin\022\035\n\014latitude_deg"
+  "\030\001 \001(\001B\007\202\265\030\003NaN\022\036\n\rlongitude_deg\030\002 \001(\001B\007"
+  "\202\265\030\003NaN\022\033\n\naltitude_m\030\003 \001(\002B\007\202\265\030\003NaN\"\211\002\n"
+  "\017TelemetryResult\022<\n\006result\030\001 \001(\0162,.mavsd"
+  "k.rpc.telemetry.TelemetryResult.Result\022\022"
+  "\n\nresult_str\030\002 \001(\t\"\243\001\n\006Result\022\022\n\016RESULT_"
+  "UNKNOWN\020\000\022\022\n\016RESULT_SUCCESS\020\001\022\024\n\020RESULT_"
+  "NO_SYSTEM\020\002\022\033\n\027RESULT_CONNECTION_ERROR\020\003"
+  "\022\017\n\013RESULT_BUSY\020\004\022\031\n\025RESULT_COMMAND_DENI"
+  "ED\020\005\022\022\n\016RESULT_TIMEOUT\020\006*\244\001\n\007FixType\022\023\n\017"
+  "FIX_TYPE_NO_GPS\020\000\022\023\n\017FIX_TYPE_NO_FIX\020\001\022\023"
+  "\n\017FIX_TYPE_FIX_2D\020\002\022\023\n\017FIX_TYPE_FIX_3D\020\003"
+  "\022\025\n\021FIX_TYPE_FIX_DGPS\020\004\022\026\n\022FIX_TYPE_RTK_"
+  "FLOAT\020\005\022\026\n\022FIX_TYPE_RTK_FIXED\020\006*\206\003\n\nFlig"
+  "htMode\022\027\n\023FLIGHT_MODE_UNKNOWN\020\000\022\025\n\021FLIGH"
+  "T_MODE_READY\020\001\022\027\n\023FLIGHT_MODE_TAKEOFF\020\002\022"
+  "\024\n\020FLIGHT_MODE_HOLD\020\003\022\027\n\023FLIGHT_MODE_MIS"
+  "SION\020\004\022 \n\034FLIGHT_MODE_RETURN_TO_LAUNCH\020\005"
+  "\022\024\n\020FLIGHT_MODE_LAND\020\006\022\030\n\024FLIGHT_MODE_OF"
+  "FBOARD\020\007\022\031\n\025FLIGHT_MODE_FOLLOW_ME\020\010\022\026\n\022F"
+  "LIGHT_MODE_MANUAL\020\t\022\026\n\022FLIGHT_MODE_ALTCT"
+  "L\020\n\022\026\n\022FLIGHT_MODE_POSCTL\020\013\022\024\n\020FLIGHT_MO"
+  "DE_ACRO\020\014\022\032\n\026FLIGHT_MODE_STABILIZED\020\r\022\031\n"
+  "\025FLIGHT_MODE_RATTITUDE\020\016*\371\001\n\016StatusTextT"
+  "ype\022\032\n\026STATUS_TEXT_TYPE_DEBUG\020\000\022\031\n\025STATU"
+  "S_TEXT_TYPE_INFO\020\001\022\033\n\027STATUS_TEXT_TYPE_N"
+  "OTICE\020\002\022\034\n\030STATUS_TEXT_TYPE_WARNING\020\003\022\032\n"
+  "\026STATUS_TEXT_TYPE_ERROR\020\004\022\035\n\031STATUS_TEXT"
+  "_TYPE_CRITICAL\020\005\022\032\n\026STATUS_TEXT_TYPE_ALE"
+  "RT\020\006\022\036\n\032STATUS_TEXT_TYPE_EMERGENCY\020\007*\223\001\n"
+  "\013LandedState\022\030\n\024LANDED_STATE_UNKNOWN\020\000\022\032"
+  "\n\026LANDED_STATE_ON_GROUND\020\001\022\027\n\023LANDED_STA"
+  "TE_IN_AIR\020\002\022\033\n\027LANDED_STATE_TAKING_OFF\020\003"
+  "\022\030\n\024LANDED_STATE_LANDING\020\0042\370-\n\020Telemetry"
+  "Service\022o\n\021SubscribePosition\022..mavsdk.rp"
+  "c.telemetry.SubscribePositionRequest\032&.m"
+  "avsdk.rpc.telemetry.PositionResponse\"\0000\001"
+  "\022c\n\rSubscribeHome\022*.mavsdk.rpc.telemetry"
+  ".SubscribeHomeRequest\032\".mavsdk.rpc.telem"
+  "etry.HomeResponse\"\0000\001\022f\n\016SubscribeInAir\022"
+  "+.mavsdk.rpc.telemetry.SubscribeInAirReq"
+  "uest\032#.mavsdk.rpc.telemetry.InAirRespons"
+  "e\"\0000\001\022x\n\024SubscribeLandedState\0221.mavsdk.r"
+  "pc.telemetry.SubscribeLandedStateRequest"
+  "\032).mavsdk.rpc.telemetry.LandedStateRespo"
+  "nse\"\0000\001\022f\n\016SubscribeArmed\022+.mavsdk.rpc.t"
+  "elemetry.SubscribeArmedRequest\032#.mavsdk."
+  "rpc.telemetry.ArmedResponse\"\0000\001\022\215\001\n\033Subs"
+  "cribeAttitudeQuaternion\0228.mavsdk.rpc.tel"
+  "emetry.SubscribeAttitudeQuaternionReques"
+  "t\0320.mavsdk.rpc.telemetry.AttitudeQuatern"
+  "ionResponse\"\0000\001\022~\n\026SubscribeAttitudeEule"
+  "r\0223.mavsdk.rpc.telemetry.SubscribeAttitu"
+  "deEulerRequest\032+.mavsdk.rpc.telemetry.At"
+  "titudeEulerResponse\"\0000\001\022\250\001\n$SubscribeAtt"
+  "itudeAngularVelocityBody\022A.mavsdk.rpc.te"
+  "lemetry.SubscribeAttitudeAngularVelocity"
+  "BodyRequest\0329.mavsdk.rpc.telemetry.Attit"
+  "udeAngularVelocityBodyResponse\"\0000\001\022\237\001\n!S"
+  "ubscribeCameraAttitudeQuaternion\022>.mavsd"
+  "k.rpc.telemetry.SubscribeCameraAttitudeQ"
+  "uaternionRequest\0326.mavsdk.rpc.telemetry."
+  "CameraAttitudeQuaternionResponse\"\0000\001\022\220\001\n"
+  "\034SubscribeCameraAttitudeEuler\0229.mavsdk.r"
+  "pc.telemetry.SubscribeCameraAttitudeEule"
+  "rRequest\0321.mavsdk.rpc.telemetry.CameraAt"
+  "titudeEulerResponse\"\0000\001\022x\n\024SubscribeVelo"
+  "cityNed\0221.mavsdk.rpc.telemetry.Subscribe"
+  "VelocityNedRequest\032).mavsdk.rpc.telemetr"
+  "y.VelocityNedResponse\"\0000\001\022l\n\020SubscribeGp"
+  "sInfo\022-.mavsdk.rpc.telemetry.SubscribeGp"
+  "sInfoRequest\032%.mavsdk.rpc.telemetry.GpsI"
+  "nfoResponse\"\0000\001\022l\n\020SubscribeBattery\022-.ma"
+  "vsdk.rpc.telemetry.SubscribeBatteryReque"
+  "st\032%.mavsdk.rpc.telemetry.BatteryRespons"
+  "e\"\0000\001\022u\n\023SubscribeFlightMode\0220.mavsdk.rp"
+  "c.telemetry.SubscribeFlightModeRequest\032("
+  ".mavsdk.rpc.telemetry.FlightModeResponse"
+  "\"\0000\001\022i\n\017SubscribeHealth\022,.mavsdk.rpc.tel"
+  "emetry.SubscribeHealthRequest\032$.mavsdk.r"
+  "pc.telemetry.HealthResponse\"\0000\001\022o\n\021Subsc"
+  "ribeRcStatus\022..mavsdk.rpc.telemetry.Subs"
+  "cribeRcStatusRequest\032&.mavsdk.rpc.teleme"
+  "try.RcStatusResponse\"\0000\001\022u\n\023SubscribeSta"
+  "tusText\0220.mavsdk.rpc.telemetry.Subscribe"
+  "StatusTextRequest\032(.mavsdk.rpc.telemetry"
+  ".StatusTextResponse\"\0000\001\022\226\001\n\036SubscribeAct"
+  "uatorControlTarget\022;.mavsdk.rpc.telemetr"
+  "y.SubscribeActuatorControlTargetRequest\032"
+  "3.mavsdk.rpc.telemetry.ActuatorControlTa"
+  "rgetResponse\"\0000\001\022\223\001\n\035SubscribeActuatorOu"
+  "tputStatus\022:.mavsdk.rpc.telemetry.Subscr"
+  "ibeActuatorOutputStatusRequest\0322.mavsdk."
+  "rpc.telemetry.ActuatorOutputStatusRespon"
+  "se\"\0000\001\022o\n\021SubscribeOdometry\022..mavsdk.rpc"
+  ".telemetry.SubscribeOdometryRequest\032&.ma"
+  "vsdk.rpc.telemetry.OdometryResponse\"\0000\001\022"
+  "\220\001\n\034SubscribePositionVelocityNed\0229.mavsd"
+  "k.rpc.telemetry.SubscribePositionVelocit"
+  "yNedRequest\0321.mavsdk.rpc.telemetry.Posit"
+  "ionVelocityNedResponse\"\0000\001\022x\n\024SubscribeG"
+  "roundTruth\0221.mavsdk.rpc.telemetry.Subscr"
+  "ibeGroundTruthRequest\032).mavsdk.rpc.telem"
+  "etry.GroundTruthResponse\"\0000\001\022\207\001\n\031Subscri"
+  "beFixedwingMetrics\0226.mavsdk.rpc.telemetr"
+  "y.SubscribeFixedwingMetricsRequest\032..mav"
+  "sdk.rpc.telemetry.FixedwingMetricsRespon"
+  "se\"\0000\001\022`\n\014SubscribeImu\022).mavsdk.rpc.tele"
+  "metry.SubscribeImuRequest\032!.mavsdk.rpc.t"
+  "elemetry.ImuResponse\"\0000\001\022x\n\024SubscribeHea"
+  "lthAllOk\0221.mavsdk.rpc.telemetry.Subscrib"
+  "eHealthAllOkRequest\032).mavsdk.rpc.telemet"
+  "ry.HealthAllOkResponse\"\0000\001\022~\n\026SubscribeU"
+  "nixEpochTime\0223.mavsdk.rpc.telemetry.Subs"
+  "cribeUnixEpochTimeRequest\032+.mavsdk.rpc.t"
+  "elemetry.UnixEpochTimeResponse\"\0000\001\022\201\001\n\027S"
+  "ubscribeDistanceSensor\0224.mavsdk.rpc.tele"
+  "metry.SubscribeDistanceSensorRequest\032,.m"
+  "avsdk.rpc.telemetry.DistanceSensorRespon"
+  "se\"\0000\001\022p\n\017SetRatePosition\022,.mavsdk.rpc.t"
+  "elemetry.SetRatePositionRequest\032-.mavsdk"
+  ".rpc.telemetry.SetRatePositionResponse\"\000"
+  "\022d\n\013SetRateHome\022(.mavsdk.rpc.telemetry.S"
+  "etRateHomeRequest\032).mavsdk.rpc.telemetry"
+  ".SetRateHomeResponse\"\000\022g\n\014SetRateInAir\022)"
+  ".mavsdk.rpc.telemetry.SetRateInAirReques"
+  "t\032*.mavsdk.rpc.telemetry.SetRateInAirRes"
+  "ponse\"\000\022y\n\022SetRateLandedState\022/.mavsdk.r"
+  "pc.telemetry.SetRateLandedStateRequest\0320"
+  ".mavsdk.rpc.telemetry.SetRateLandedState"
+  "Response\"\000\022p\n\017SetRateAttitude\022,.mavsdk.r"
+  "pc.telemetry.SetRateAttitudeRequest\032-.ma"
+  "vsdk.rpc.telemetry.SetRateAttitudeRespon"
+  "se\"\000\022\202\001\n\025SetRateCameraAttitude\0222.mavsdk."
+  "rpc.telemetry.SetRateCameraAttitudeReque"
+  "st\0323.mavsdk.rpc.telemetry.SetRateCameraA"
+  "ttitudeResponse\"\000\022y\n\022SetRateVelocityNed\022"
+  "/.mavsdk.rpc.telemetry.SetRateVelocityNe"
+  "dRequest\0320.mavsdk.rpc.telemetry.SetRateV"
+  "elocityNedResponse\"\000\022m\n\016SetRateGpsInfo\022+"
+  ".mavsdk.rpc.telemetry.SetRateGpsInfoRequ"
+  "est\032,.mavsdk.rpc.telemetry.SetRateGpsInf"
+  "oResponse\"\000\022m\n\016SetRateBattery\022+.mavsdk.r"
+  "pc.telemetry.SetRateBatteryRequest\032,.mav"
+  "sdk.rpc.telemetry.SetRateBatteryResponse"
+  "\"\000\022p\n\017SetRateRcStatus\022,.mavsdk.rpc.telem"
+  "etry.SetRateRcStatusRequest\032-.mavsdk.rpc"
+  ".telemetry.SetRateRcStatusResponse\"\000\022\227\001\n"
+  "\034SetRateActuatorControlTarget\0229.mavsdk.r"
+  "pc.telemetry.SetRateActuatorControlTarge"
+  "tRequest\032:.mavsdk.rpc.telemetry.SetRateA"
+  "ctuatorControlTargetResponse\"\000\022\224\001\n\033SetRa"
+  "teActuatorOutputStatus\0228.mavsdk.rpc.tele"
+  "metry.SetRateActuatorOutputStatusRequest"
+  "\0329.mavsdk.rpc.telemetry.SetRateActuatorO"
+  "utputStatusResponse\"\000\022p\n\017SetRateOdometry"
+  "\022,.mavsdk.rpc.telemetry.SetRateOdometryR"
+  "equest\032-.mavsdk.rpc.telemetry.SetRateOdo"
+  "metryResponse\"\000\022\221\001\n\032SetRatePositionVeloc"
+  "ityNed\0227.mavsdk.rpc.telemetry.SetRatePos"
+  "itionVelocityNedRequest\0328.mavsdk.rpc.tel"
+  "emetry.SetRatePositionVelocityNedRespons"
+  "e\"\000\022y\n\022SetRateGroundTruth\022/.mavsdk.rpc.t"
+  "elemetry.SetRateGroundTruthRequest\0320.mav"
+  "sdk.rpc.telemetry.SetRateGroundTruthResp"
+  "onse\"\000\022\210\001\n\027SetRateFixedwingMetrics\0224.mav"
+  "sdk.rpc.telemetry.SetRateFixedwingMetric"
+  "sRequest\0325.mavsdk.rpc.telemetry.SetRateF"
+  "ixedwingMetricsResponse\"\000\022a\n\nSetRateImu\022"
+  "\'.mavsdk.rpc.telemetry.SetRateImuRequest"
+  "\032(.mavsdk.rpc.telemetry.SetRateImuRespon"
+  "se\"\000\022\177\n\024SetRateUnixEpochTime\0221.mavsdk.rp"
+  "c.telemetry.SetRateUnixEpochTimeRequest\032"
+  "2.mavsdk.rpc.telemetry.SetRateUnixEpochT"
+  "imeResponse\"\000\022\202\001\n\025SetRateDistanceSensor\022"
+  "2.mavsdk.rpc.telemetry.SetRateDistanceSe"
+  "nsorRequest\0323.mavsdk.rpc.telemetry.SetRa"
+  "teDistanceSensorResponse\"\000\022y\n\022GetGpsGlob"
+  "alOrigin\022/.mavsdk.rpc.telemetry.GetGpsGl"
+  "obalOriginRequest\0320.mavsdk.rpc.telemetry"
+  ".GetGpsGlobalOriginResponse\"\000B%\n\023io.mavs"
+  "dk.telemetryB\016TelemetryProtob\006proto3"
   ;
 static const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable*const descriptor_table_telemetry_2ftelemetry_2eproto_deps[1] = {
   &::descriptor_table_mavsdk_5foptions_2eproto,
@@ -3948,7 +3951,7 @@ static ::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase*const descriptor_table_tel
 };
 static ::PROTOBUF_NAMESPACE_ID::internal::once_flag descriptor_table_telemetry_2ftelemetry_2eproto_once;
 const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable descriptor_table_telemetry_2ftelemetry_2eproto = {
-  false, false, descriptor_table_protodef_telemetry_2ftelemetry_2eproto, "telemetry/telemetry.proto", 16792,
+  false, false, descriptor_table_protodef_telemetry_2ftelemetry_2eproto, "telemetry/telemetry.proto", 16836,
   &descriptor_table_telemetry_2ftelemetry_2eproto_once, descriptor_table_telemetry_2ftelemetry_2eproto_sccs, descriptor_table_telemetry_2ftelemetry_2eproto_deps, 125, 1,
   schemas, file_default_instances, TableStruct_telemetry_2ftelemetry_2eproto::offsets,
   file_level_metadata_telemetry_2ftelemetry_2eproto, 125, file_level_enum_descriptors_telemetry_2ftelemetry_2eproto, file_level_service_descriptors_telemetry_2ftelemetry_2eproto,
@@ -23573,15 +23576,15 @@ Quaternion::Quaternion(const Quaternion& from)
   : ::PROTOBUF_NAMESPACE_ID::Message() {
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
   ::memcpy(&w_, &from.w_,
-    static_cast<size_t>(reinterpret_cast<char*>(&z_) -
-    reinterpret_cast<char*>(&w_)) + sizeof(z_));
+    static_cast<size_t>(reinterpret_cast<char*>(&timestamp_us_) -
+    reinterpret_cast<char*>(&w_)) + sizeof(timestamp_us_));
   // @@protoc_insertion_point(copy_constructor:mavsdk.rpc.telemetry.Quaternion)
 }
 
 void Quaternion::SharedCtor() {
   ::memset(&w_, 0, static_cast<size_t>(
-      reinterpret_cast<char*>(&z_) -
-      reinterpret_cast<char*>(&w_)) + sizeof(z_));
+      reinterpret_cast<char*>(&timestamp_us_) -
+      reinterpret_cast<char*>(&w_)) + sizeof(timestamp_us_));
 }
 
 Quaternion::~Quaternion() {
@@ -23616,8 +23619,8 @@ void Quaternion::Clear() {
   (void) cached_has_bits;
 
   ::memset(&w_, 0, static_cast<size_t>(
-      reinterpret_cast<char*>(&z_) -
-      reinterpret_cast<char*>(&w_)) + sizeof(z_));
+      reinterpret_cast<char*>(&timestamp_us_) -
+      reinterpret_cast<char*>(&w_)) + sizeof(timestamp_us_));
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
@@ -23657,6 +23660,13 @@ const char* Quaternion::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID:
           ptr += sizeof(float);
         } else goto handle_unusual;
         continue;
+      // uint64 timestamp_us = 5;
+      case 5:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 40)) {
+          timestamp_us_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+        } else goto handle_unusual;
+        continue;
       default: {
       handle_unusual:
         if ((tag & 7) == 4 || tag == 0) {
@@ -23709,6 +23719,12 @@ ::PROTOBUF_NAMESPACE_ID::uint8* Quaternion::_InternalSerialize(
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteFloatToArray(4, this->_internal_z(), target);
   }
 
+  // uint64 timestamp_us = 5;
+  if (this->timestamp_us() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteUInt64ToArray(5, this->_internal_timestamp_us(), target);
+  }
+
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
@@ -23745,6 +23761,13 @@ size_t Quaternion::ByteSizeLong() const {
     total_size += 1 + 4;
   }
 
+  // uint64 timestamp_us = 5;
+  if (this->timestamp_us() != 0) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::UInt64Size(
+        this->_internal_timestamp_us());
+  }
+
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     return ::PROTOBUF_NAMESPACE_ID::internal::ComputeUnknownFieldsSize(
         _internal_metadata_, total_size, &_cached_size_);
@@ -23788,6 +23811,9 @@ void Quaternion::MergeFrom(const Quaternion& from) {
   if (!(from.z() <= 0 && from.z() >= 0)) {
     _internal_set_z(from._internal_z());
   }
+  if (from.timestamp_us() != 0) {
+    _internal_set_timestamp_us(from._internal_timestamp_us());
+  }
 }
 
 void Quaternion::CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
@@ -23812,8 +23838,8 @@ void Quaternion::InternalSwap(Quaternion* other) {
   using std::swap;
   _internal_metadata_.Swap<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(&other->_internal_metadata_);
   ::PROTOBUF_NAMESPACE_ID::internal::memswap<
-      PROTOBUF_FIELD_OFFSET(Quaternion, z_)
-      + sizeof(Quaternion::z_)
+      PROTOBUF_FIELD_OFFSET(Quaternion, timestamp_us_)
+      + sizeof(Quaternion::timestamp_us_)
       - PROTOBUF_FIELD_OFFSET(Quaternion, w_)>(
           reinterpret_cast<char*>(&w_),
           reinterpret_cast<char*>(&other->w_));
@@ -23919,6 +23945,13 @@ const char* EulerAngle::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID:
           ptr += sizeof(float);
         } else goto handle_unusual;
         continue;
+      // uint64 timestamp_us = 4;
+      case 4:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 32)) {
+          timestamp_us_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+        } else goto handle_unusual;
+        continue;
       default: {
       handle_unusual:
         if ((tag & 7) == 4 || tag == 0) {
@@ -23965,6 +23998,12 @@ ::PROTOBUF_NAMESPACE_ID::uint8* EulerAngle::_InternalSerialize(
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteFloatToArray(3, this->_internal_yaw_deg(), target);
   }
 
+  // uint64 timestamp_us = 4;
+  if (this->timestamp_us() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteUInt64ToArray(4, this->_internal_timestamp_us(), target);
+  }
+
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
@@ -23991,6 +24030,13 @@ size_t EulerAngle::ByteSizeLong() const {
     total_size += 1 + 4;
   }
 
+  // uint64 timestamp_us = 4;
+  if (this->timestamp_us() != 0) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::UInt64Size(
+        this->_internal_timestamp_us());
+  }
+
   // float yaw_deg = 3 [(.mavsdk.options.default_value) = "NaN"];
   if (!(this->yaw_deg() <= 0 && this->yaw_deg() >= 0)) {
     total_size += 1 + 4;
@@ -24033,6 +24079,9 @@ void EulerAngle::MergeFrom(const EulerAngle& from) {
   if (!(from.pitch_deg() <= 0 && from.pitch_deg() >= 0)) {
     _internal_set_pitch_deg(from._internal_pitch_deg());
   }
+  if (from.timestamp_us() != 0) {
+    _internal_set_timestamp_us(from._internal_timestamp_us());
+  }
   if (!(from.yaw_deg() <= 0 && from.yaw_deg() >= 0)) {
     _internal_set_yaw_deg(from._internal_yaw_deg());
   }
diff --git a/src/mavsdk_server/src/generated/telemetry/telemetry.pb.h b/src/mavsdk_server/src/generated/telemetry/telemetry.pb.h
index 69c0b32c27..0f53fb6e7e 100644
--- a/src/mavsdk_server/src/generated/telemetry/telemetry.pb.h
+++ b/src/mavsdk_server/src/generated/telemetry/telemetry.pb.h
@@ -14510,6 +14510,7 @@ class Quaternion PROTOBUF_FINAL :
     kXFieldNumber = 2,
     kYFieldNumber = 3,
     kZFieldNumber = 4,
+    kTimestampUsFieldNumber = 5,
   };
   // float w = 1 [(.mavsdk.options.default_value) = "NaN"];
   void clear_w();
@@ -14547,6 +14548,15 @@ class Quaternion PROTOBUF_FINAL :
   void _internal_set_z(float value);
   public:
 
+  // uint64 timestamp_us = 5;
+  void clear_timestamp_us();
+  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp_us() const;
+  void set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value);
+  private:
+  ::PROTOBUF_NAMESPACE_ID::uint64 _internal_timestamp_us() const;
+  void _internal_set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value);
+  public:
+
   // @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.Quaternion)
  private:
   class _Internal;
@@ -14558,6 +14568,7 @@ class Quaternion PROTOBUF_FINAL :
   float x_;
   float y_;
   float z_;
+  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp_us_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_telemetry_2ftelemetry_2eproto;
 };
@@ -14678,6 +14689,7 @@ class EulerAngle PROTOBUF_FINAL :
   enum : int {
     kRollDegFieldNumber = 1,
     kPitchDegFieldNumber = 2,
+    kTimestampUsFieldNumber = 4,
     kYawDegFieldNumber = 3,
   };
   // float roll_deg = 1 [(.mavsdk.options.default_value) = "NaN"];
@@ -14698,6 +14710,15 @@ class EulerAngle PROTOBUF_FINAL :
   void _internal_set_pitch_deg(float value);
   public:
 
+  // uint64 timestamp_us = 4;
+  void clear_timestamp_us();
+  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp_us() const;
+  void set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value);
+  private:
+  ::PROTOBUF_NAMESPACE_ID::uint64 _internal_timestamp_us() const;
+  void _internal_set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value);
+  public:
+
   // float yaw_deg = 3 [(.mavsdk.options.default_value) = "NaN"];
   void clear_yaw_deg();
   float yaw_deg() const;
@@ -14716,6 +14737,7 @@ class EulerAngle PROTOBUF_FINAL :
   typedef void DestructorSkippable_;
   float roll_deg_;
   float pitch_deg_;
+  ::PROTOBUF_NAMESPACE_ID::uint64 timestamp_us_;
   float yaw_deg_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_telemetry_2ftelemetry_2eproto;
@@ -23546,6 +23568,26 @@ inline void Quaternion::set_z(float value) {
   // @@protoc_insertion_point(field_set:mavsdk.rpc.telemetry.Quaternion.z)
 }
 
+// uint64 timestamp_us = 5;
+inline void Quaternion::clear_timestamp_us() {
+  timestamp_us_ = PROTOBUF_ULONGLONG(0);
+}
+inline ::PROTOBUF_NAMESPACE_ID::uint64 Quaternion::_internal_timestamp_us() const {
+  return timestamp_us_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::uint64 Quaternion::timestamp_us() const {
+  // @@protoc_insertion_point(field_get:mavsdk.rpc.telemetry.Quaternion.timestamp_us)
+  return _internal_timestamp_us();
+}
+inline void Quaternion::_internal_set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value) {
+  
+  timestamp_us_ = value;
+}
+inline void Quaternion::set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value) {
+  _internal_set_timestamp_us(value);
+  // @@protoc_insertion_point(field_set:mavsdk.rpc.telemetry.Quaternion.timestamp_us)
+}
+
 // -------------------------------------------------------------------
 
 // EulerAngle
@@ -23610,6 +23652,26 @@ inline void EulerAngle::set_yaw_deg(float value) {
   // @@protoc_insertion_point(field_set:mavsdk.rpc.telemetry.EulerAngle.yaw_deg)
 }
 
+// uint64 timestamp_us = 4;
+inline void EulerAngle::clear_timestamp_us() {
+  timestamp_us_ = PROTOBUF_ULONGLONG(0);
+}
+inline ::PROTOBUF_NAMESPACE_ID::uint64 EulerAngle::_internal_timestamp_us() const {
+  return timestamp_us_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::uint64 EulerAngle::timestamp_us() const {
+  // @@protoc_insertion_point(field_get:mavsdk.rpc.telemetry.EulerAngle.timestamp_us)
+  return _internal_timestamp_us();
+}
+inline void EulerAngle::_internal_set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value) {
+  
+  timestamp_us_ = value;
+}
+inline void EulerAngle::set_timestamp_us(::PROTOBUF_NAMESPACE_ID::uint64 value) {
+  _internal_set_timestamp_us(value);
+  // @@protoc_insertion_point(field_set:mavsdk.rpc.telemetry.EulerAngle.timestamp_us)
+}
+
 // -------------------------------------------------------------------
 
 // AngularVelocityBody
diff --git a/src/mavsdk_server/src/plugins/telemetry/telemetry_service_impl.h b/src/mavsdk_server/src/plugins/telemetry/telemetry_service_impl.h
index 427d598ece..2633a415b8 100644
--- a/src/mavsdk_server/src/plugins/telemetry/telemetry_service_impl.h
+++ b/src/mavsdk_server/src/plugins/telemetry/telemetry_service_impl.h
@@ -302,6 +302,8 @@ class TelemetryServiceImpl final : public rpc::telemetry::TelemetryService::Serv
 
         rpc_obj->set_z(quaternion.z);
 
+        rpc_obj->set_timestamp_us(quaternion.timestamp_us);
+
         return rpc_obj;
     }
 
@@ -318,6 +320,8 @@ class TelemetryServiceImpl final : public rpc::telemetry::TelemetryService::Serv
 
         obj.z = quaternion.z();
 
+        obj.timestamp_us = quaternion.timestamp_us();
+
         return obj;
     }
 
@@ -332,6 +336,8 @@ class TelemetryServiceImpl final : public rpc::telemetry::TelemetryService::Serv
 
         rpc_obj->set_yaw_deg(euler_angle.yaw_deg);
 
+        rpc_obj->set_timestamp_us(euler_angle.timestamp_us);
+
         return rpc_obj;
     }
 
@@ -346,6 +352,8 @@ class TelemetryServiceImpl final : public rpc::telemetry::TelemetryService::Serv
 
         obj.yaw_deg = euler_angle.yaw_deg();
 
+        obj.timestamp_us = euler_angle.timestamp_us();
+
         return obj;
     }
 
diff --git a/src/plugins/telemetry/include/plugins/telemetry/telemetry.h b/src/plugins/telemetry/include/plugins/telemetry/telemetry.h
index 8ccd7fb7ca..770c0a6947 100644
--- a/src/plugins/telemetry/include/plugins/telemetry/telemetry.h
+++ b/src/plugins/telemetry/include/plugins/telemetry/telemetry.h
@@ -189,6 +189,7 @@ class Telemetry : public PluginBase {
         float x{float(NAN)}; /**< @brief Quaternion entry 1, also denoted as b */
         float y{float(NAN)}; /**< @brief Quaternion entry 2, also denoted as c */
         float z{float(NAN)}; /**< @brief Quaternion entry 3, also denoted as d */
+        uint64_t timestamp_us{}; /**< @brief Timestamp in microseconds */
     };
 
     /**
@@ -220,6 +221,7 @@ class Telemetry : public PluginBase {
             float(NAN)}; /**< @brief Pitch angle in degrees, positive is pitching nose up */
         float yaw_deg{
             float(NAN)}; /**< @brief Yaw angle in degrees, positive is clock-wise seen from above */
+        uint64_t timestamp_us{}; /**< @brief Timestamp in microseconds */
     };
 
     /**
diff --git a/src/plugins/telemetry/math_conversions.cpp b/src/plugins/telemetry/math_conversions.cpp
index d2cd373749..761dfafae7 100644
--- a/src/plugins/telemetry/math_conversions.cpp
+++ b/src/plugins/telemetry/math_conversions.cpp
@@ -15,6 +15,8 @@ Telemetry::EulerAngle to_euler_angle_from_quaternion(Telemetry::Quaternion quate
     euler_angle.yaw_deg = to_deg_from_rad(
         atan2f(2.0f * (q.w * q.z + q.x * q.y), 1.0f - 2.0f * (q.y * q.y + q.z * q.z)));
 
+    euler_angle.timestamp_us = quaternion.timestamp_us;
+
     return euler_angle;
 }
 
@@ -33,6 +35,8 @@ Telemetry::Quaternion to_quaternion_from_euler_angle(Telemetry::EulerAngle euler
     quaternion.y = float(cos_phi_2 * sin_theta_2 * cos_psi_2 + sin_phi_2 * cos_theta_2 * sin_psi_2);
     quaternion.z = float(cos_phi_2 * cos_theta_2 * sin_psi_2 - sin_phi_2 * sin_theta_2 * cos_psi_2);
 
+    quaternion.timestamp_us = euler_angle.timestamp_us;
+
     return quaternion;
 }
 
diff --git a/src/plugins/telemetry/math_conversions_test.cpp b/src/plugins/telemetry/math_conversions_test.cpp
index ff209bb4f0..d561799f4d 100644
--- a/src/plugins/telemetry/math_conversions_test.cpp
+++ b/src/plugins/telemetry/math_conversions_test.cpp
@@ -12,11 +12,13 @@ TEST(MathConversions, QuaternionToEulerAnglesAndBackBaseCase)
     q1.x = 0.0f;
     q1.y = 0.0f;
     q1.z = 0.0f;
+    q1.timestamp_us = 4242;
     Telemetry::EulerAngle e = to_euler_angle_from_quaternion(q1);
 
     EXPECT_FLOAT_EQ(e.roll_deg, 0.0f);
     EXPECT_FLOAT_EQ(e.pitch_deg, 0.0f);
     EXPECT_FLOAT_EQ(e.yaw_deg, 0.0f);
+    EXPECT_EQ(e.timestamp_us, q1.timestamp_us);
 
     Telemetry::Quaternion q2 = to_quaternion_from_euler_angle(e);
 
@@ -63,11 +65,13 @@ TEST(MathConversions, QuaternionToEulerAndBackSomeCase)
     q1.x = 0.280f;
     q1.y = 0.595f;
     q1.z = 0.739f;
+    q1.timestamp_us = 9999;
     Telemetry::EulerAngle e = to_euler_angle_from_quaternion(q1);
 
     EXPECT_NEAR(e.roll_deg, 82.086f, 0.2f);
     EXPECT_NEAR(e.pitch_deg, -14.142f, 0.2f);
     EXPECT_NEAR(e.yaw_deg, 145.774f, 0.2f);
+    EXPECT_EQ(e.timestamp_us, q1.timestamp_us);
 
     Telemetry::Quaternion q2 = to_quaternion_from_euler_angle(e);
 
@@ -75,6 +79,7 @@ TEST(MathConversions, QuaternionToEulerAndBackSomeCase)
     EXPECT_NEAR(q1.x, q2.x, 0.01f);
     EXPECT_NEAR(q1.y, q2.y, 0.01f);
     EXPECT_NEAR(q1.z, q2.z, 0.01f);
+    EXPECT_EQ(q1.timestamp_us, q2.timestamp_us);
 
     // We also compare against the MAVLink implementation and test
     // the MAVLink functions while we're at it.
diff --git a/src/plugins/telemetry/telemetry.cpp b/src/plugins/telemetry/telemetry.cpp
index 7fcd4e4315..69b3f73530 100644
--- a/src/plugins/telemetry/telemetry.cpp
+++ b/src/plugins/telemetry/telemetry.cpp
@@ -546,7 +546,8 @@ bool operator==(const Telemetry::Quaternion& lhs, const Telemetry::Quaternion& r
     return ((std::isnan(rhs.w) && std::isnan(lhs.w)) || rhs.w == lhs.w) &&
            ((std::isnan(rhs.x) && std::isnan(lhs.x)) || rhs.x == lhs.x) &&
            ((std::isnan(rhs.y) && std::isnan(lhs.y)) || rhs.y == lhs.y) &&
-           ((std::isnan(rhs.z) && std::isnan(lhs.z)) || rhs.z == lhs.z);
+           ((std::isnan(rhs.z) && std::isnan(lhs.z)) || rhs.z == lhs.z) &&
+           (rhs.timestamp_us == lhs.timestamp_us);
 }
 
 std::ostream& operator<<(std::ostream& str, Telemetry::Quaternion const& quaternion)
@@ -557,6 +558,7 @@ std::ostream& operator<<(std::ostream& str, Telemetry::Quaternion const& quatern
     str << "    x: " << quaternion.x << '\n';
     str << "    y: " << quaternion.y << '\n';
     str << "    z: " << quaternion.z << '\n';
+    str << "    timestamp_us: " << quaternion.timestamp_us << '\n';
     str << '}';
     return str;
 }
@@ -567,7 +569,8 @@ bool operator==(const Telemetry::EulerAngle& lhs, const Telemetry::EulerAngle& r
             rhs.roll_deg == lhs.roll_deg) &&
            ((std::isnan(rhs.pitch_deg) && std::isnan(lhs.pitch_deg)) ||
             rhs.pitch_deg == lhs.pitch_deg) &&
-           ((std::isnan(rhs.yaw_deg) && std::isnan(lhs.yaw_deg)) || rhs.yaw_deg == lhs.yaw_deg);
+           ((std::isnan(rhs.yaw_deg) && std::isnan(lhs.yaw_deg)) || rhs.yaw_deg == lhs.yaw_deg) &&
+           (rhs.timestamp_us == lhs.timestamp_us);
 }
 
 std::ostream& operator<<(std::ostream& str, Telemetry::EulerAngle const& euler_angle)
@@ -577,6 +580,7 @@ std::ostream& operator<<(std::ostream& str, Telemetry::EulerAngle const& euler_a
     str << "    roll_deg: " << euler_angle.roll_deg << '\n';
     str << "    pitch_deg: " << euler_angle.pitch_deg << '\n';
     str << "    yaw_deg: " << euler_angle.yaw_deg << '\n';
+    str << "    timestamp_us: " << euler_angle.timestamp_us << '\n';
     str << '}';
     return str;
 }
diff --git a/src/plugins/telemetry/telemetry_impl.cpp b/src/plugins/telemetry/telemetry_impl.cpp
index 2dd9038080..8d1f66b187 100644
--- a/src/plugins/telemetry/telemetry_impl.cpp
+++ b/src/plugins/telemetry/telemetry_impl.cpp
@@ -608,6 +608,7 @@ void TelemetryImpl::process_attitude(const mavlink_message_t& message)
     euler_angle.roll_deg = to_deg_from_rad(attitude.roll);
     euler_angle.pitch_deg = to_deg_from_rad(attitude.pitch);
     euler_angle.yaw_deg = to_deg_from_rad(attitude.yaw);
+    euler_angle.timestamp_us = static_cast<uint64_t>(attitude.time_boot_ms) * 1000;
 
     Telemetry::AngularVelocityBody angular_velocity_body;
     angular_velocity_body.roll_rad_s = attitude.rollspeed;
@@ -648,6 +649,8 @@ void TelemetryImpl::process_attitude_quaternion(const mavlink_message_t& message
     quaternion.x = mavlink_attitude_quaternion.q2;
     quaternion.y = mavlink_attitude_quaternion.q3;
     quaternion.z = mavlink_attitude_quaternion.q4;
+    quaternion.timestamp_us =
+        static_cast<uint64_t>(mavlink_attitude_quaternion.time_boot_ms) * 1000;
 
     Telemetry::AngularVelocityBody angular_velocity_body;
     angular_velocity_body.roll_rad_s = mavlink_attitude_quaternion.rollspeed;