code: def handle_msec_timestamp(self, m, master):
          '''special handling for MAVLink packets with a time_boot_ms field'''
  
          if m.get_type() == 'GLOBAL_POSITION_INT':
              # this is fix time, not boot time
              return
  
          msec = m.time_boot_ms
          if msec + 30000 < master.highest_msec:
              self.say('Time has wrapped')
              print('Time has wrapped', msec, master.highest_msec)
              self.status.highest_msec = msec
              for mm in self.mpstate.mav_master:
                  mm.link_delayed = False
                  mm.highest_msec = msec
              return
  
          # we want to detect when a link is delayed
          master.highest_msec = msec
          if msec > self.status.highest_msec:
              self.status.highest_msec = msec
          if msec < self.status.highest_msec and len(self.mpstate.mav_master) > 1 and self.mpstate.settings.checkdelay:
              master.link_delayed = True
          else:
              master.link_delayed = Falsf handle_msec_timestamp(self, m, master):
          '''special handling for MAVLink packets with a time_boot_ms field'''
  
          if m.get_type() == 'GLOBAL_POSITION_INT':
              # this is fix time, not boot time
              return
  
          msec = m.time_boot_ms
          if msec + 30000 < master.highest_msec:
              self.say('Time has wrapped')
              print('Time has wrapped', msec, master.highest_msec)
              self.status.highest_msec = msec
              for mm in self.mpstate.mav_master:
                  mm.link_delayed = False
                  mm.highest_msec = msec
              return
  
          # we want to detect when a link is delayed
          master.highest_msec = msec
          if msec > self.status.highest_msec:
              self.status.highest_msec = msec
          if msec < self.status.highest_msec and len(self.mpstate.mav_master) > 1 and self.mpstate.settings.checkdelay:
              master.link_delayed = True
          else:
              master.link_delayed = False
docs: special handling for MAVLink packets with a time_boot_ms field