code: def get_time(self):
          '''get time, using ATTITUDE.time_boot_ms if in SITL with SIM_SPEEDUP != 1'''
          systime = time.time() - self.mpstate.start_time_s
          if not self.mpstate.is_sitl:
              return systime
          try:
              speedup = int(self.get_mav_param('SIM_SPEEDUP',1))
          except Exception:
              return systime
          if speedup != 1:
              return self.mpstate.attitude_time_s
          return systimf get_time(self):
          '''get time, using ATTITUDE.time_boot_ms if in SITL with SIM_SPEEDUP != 1'''
          systime = time.time() - self.mpstate.start_time_s
          if not self.mpstate.is_sitl:
              return systime
          try:
              speedup = int(self.get_mav_param('SIM_SPEEDUP',1))
          except Exception:
              return systime
          if speedup != 1:
              return self.mpstate.attitude_time_s
          return systime
docs: get time, using ATTITUDE.time_boot_ms if in SITL with SIM_SPEEDUP != 1