diff --git a/.gitmodules b/.gitmodules
index e91cf2b63a14..e443da19a290 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -81,5 +81,5 @@
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = src/modules/muorb/apps/libfc-sensor-api
+	path = boards/modalai/voxl2/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index e0cc5693edb3..734d6f5323d5 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -30,5 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
-    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
+    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
diff --git a/boards/modalai/voxl2/cmake/init.cmake b/boards/modalai/voxl2/cmake/init.cmake
new file mode 100644
index 000000000000..e5a4daad5f8b
--- /dev/null
+++ b/boards/modalai/voxl2/cmake/init.cmake
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)
\ No newline at end of file
diff --git a/boards/modalai/voxl2/cmake/link_libraries.cmake b/boards/modalai/voxl2/cmake/link_libraries.cmake
index f250f52e211b..e0b09beb7038 100644
--- a/boards/modalai/voxl2/cmake/link_libraries.cmake
+++ b/boards/modalai/voxl2/cmake/link_libraries.cmake
@@ -1,7 +1,7 @@
 
 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE
-		${PX4_SOURCE_DIR}/src//modules/muorb/apps/libfc-sensor-api/build/libfc_sensor.so
+		${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so
 		px4_layer
 		${module_libraries}
 )
diff --git a/src/modules/muorb/apps/libfc-sensor-api b/boards/modalai/voxl2/libfc-sensor-api
similarity index 100%
rename from src/modules/muorb/apps/libfc-sensor-api
rename to boards/modalai/voxl2/libfc-sensor-api
diff --git a/boards/modalai/voxl2/scripts/build-deps.sh b/boards/modalai/voxl2/scripts/build-deps.sh
index b76cd0d7fa79..fe7f85486888 100755
--- a/boards/modalai/voxl2/scripts/build-deps.sh
+++ b/boards/modalai/voxl2/scripts/build-deps.sh
@@ -1,10 +1,9 @@
 #!/bin/bash
 
-cd src/modules/muorb/apps/libfc-sensor-api
+cd boards/modalai/voxl2/libfc-sensor-api
 rm -fR build
 mkdir build
 cd build
 CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
 make
-cd ../../../../../..
-
+cd ../../../../..
diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp
index 9634511bf3fc..b510229bc0cf 100644
--- a/platforms/posix/src/px4/common/drv_hrt.cpp
+++ b/platforms/posix/src/px4/common/drv_hrt.cpp
@@ -51,6 +51,11 @@
 #include <errno.h>
 #include "hrt_work.h"
 
+// Voxl2 board specific API definitions to get time offset
+#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
+#include "fc_sensor.h"
+#endif
+
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 #include <lockstep_scheduler/lockstep_scheduler.h>
 static LockstepScheduler lockstep_scheduler {true};
@@ -107,6 +112,29 @@ hrt_abstime hrt_absolute_time()
 #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
 	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
+
+# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
+	hrt_abstime temp_abstime = ts_to_abstime(&ts);
+	int apps_time_offset = fc_sensor_get_time_offset();
+
+	if (apps_time_offset < 0) {
+		hrt_abstime temp_offset = -apps_time_offset;
+
+		if (temp_offset >= temp_abstime) {
+			temp_abstime = 0;
+
+		} else {
+			temp_abstime -= temp_offset;
+		}
+
+	} else {
+		temp_abstime += (hrt_abstime) apps_time_offset;
+	}
+
+	ts.tv_sec = temp_abstime / 1000000;
+	ts.tv_nsec = (temp_abstime % 1000000) * 1000;
+# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
+
 	return ts_to_abstime(&ts);
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
 }
@@ -449,6 +477,7 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
 
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	return system_clock_gettime(clk_id, tp);
+
 }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index 3e295abfc949..bb62da0189c3 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -162,7 +162,16 @@ static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
  */
 static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then)
 {
-	return hrt_absolute_time() - *then;
+	hrt_abstime now = hrt_absolute_time();
+
+	// Cannot allow a negative elapsed time as this would appear
+	// to be a huge positive elapsed time when represented as an
+	// unsigned value!
+	if (*then > now) {
+		return 0;
+	}
+
+	return now - *then;
 }
 
 /**
diff --git a/src/modules/muorb/apps/CMakeLists.txt b/src/modules/muorb/apps/CMakeLists.txt
index 5a608bec5301..532ada62413b 100644
--- a/src/modules/muorb/apps/CMakeLists.txt
+++ b/src/modules/muorb/apps/CMakeLists.txt
@@ -39,7 +39,7 @@ px4_add_module(
 	INCLUDES
 		../test
 		../aggregator
-		libfc-sensor-api/inc
+		${PX4_BOARD_DIR}/libfc-sensor-api/inc
 	SRCS
 		uORBAppsProtobufChannel.cpp
 		muorb_main.cpp
diff --git a/src/modules/muorb/apps/Kconfig b/src/modules/muorb/apps/Kconfig
index 21969d591d13..f0afac8b6204 100644
--- a/src/modules/muorb/apps/Kconfig
+++ b/src/modules/muorb/apps/Kconfig
@@ -4,3 +4,11 @@ menuconfig MODULES_MUORB_APPS
 	depends on PLATFORM_POSIX
 	---help---
 		Enable support for muorb apps
+
+
+    config MUORB_APPS_SYNC_TIMESTAMP
+        bool "Sync timestamp with external processor"
+        depends on MODULES_MUORB_APPS
+        default y
+        help
+            causes HRT timestamp to use an externally calculated offset for synchronization