diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
index 889875317..a24c673eb 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -19,6 +19,7 @@ package org.photonvision.common.dataflow.networktables;
 
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEvent;
+import edu.wpi.first.util.WPIUtilJNI;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
 import java.util.function.Supplier;
@@ -27,6 +28,7 @@ import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networktables.NTTopicSet;
+import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
@@ -46,8 +48,6 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
     private final BooleanSupplier driverModeSupplier;
     private final Consumer<Boolean> driverModeConsumer;
 
-    private long heartbeatCounter = 0;
-
     public NTDataPublisher(
             String cameraNickname,
             Supplier<Integer> pipelineIndexSupplier,
@@ -129,9 +129,13 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
     @Override
     public void accept(CVPipelineResult result) {
+        var now = WPIUtilJNI.now();
+        var captureMicros = MathUtils.nanosToMicros(result.getImageCaptureTimestampNanos());
         var simplified =
                 new PhotonPipelineResult(
-                        result.getLatencyMillis(),
+                        result.sequenceID,
+                        captureMicros,
+                        now,
                         TrackedTarget.simpleFromTrackedTargets(result.targets),
                         result.multiTagResult);
 
@@ -190,7 +194,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
             ts.cameraDistortionPublisher.accept(new double[] {});
         }
 
-        ts.heartbeatPublisher.set(heartbeatCounter++);
+        ts.heartbeatPublisher.set(result.sequenceID);
 
         // TODO...nt4... is this needed?
         rootTable.getInstance().flush();
diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index 11d234c02..a22dab745 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -67,6 +67,10 @@ public class MathUtils {
         return micros * 1000;
     }
 
+    public static long nanosToMicros(long nanos) {
+        return nanos / 1000;
+    }
+
     public static double map(
             double value, double in_min, double in_max, double out_min, double out_max) {
         return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java b/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java
index d4202f77a..8caeb0082 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java
@@ -22,6 +22,7 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
 
 public class Frame implements Releasable {
+    public final long sequenceID;
     public final long timestampNanos;
 
     // Frame should at _least_ contain the thresholded frame, and sometimes the color image
@@ -32,11 +33,13 @@ public class Frame implements Releasable {
     public final FrameStaticProperties frameStaticProperties;
 
     public Frame(
+            long sequenceID,
             CVMat color,
             CVMat processed,
             FrameThresholdType type,
             long timestampNanos,
             FrameStaticProperties frameStaticProperties) {
+        this.sequenceID = sequenceID;
         this.colorImage = color;
         this.processedImage = processed;
         this.type = type;
@@ -45,15 +48,17 @@ public class Frame implements Releasable {
     }
 
     public Frame(
+            long sequenceID,
             CVMat color,
             CVMat processed,
             FrameThresholdType processType,
             FrameStaticProperties frameStaticProperties) {
-        this(color, processed, processType, MathUtils.wpiNanoTime(), frameStaticProperties);
+        this(sequenceID, color, processed, processType, MathUtils.wpiNanoTime(), frameStaticProperties);
     }
 
     public Frame() {
         this(
+                -1,
                 new CVMat(),
                 new CVMat(),
                 FrameThresholdType.NONE,
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
index 70de9c511..a60f63692 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
@@ -21,18 +21,20 @@ import java.util.function.Supplier;
 import org.photonvision.vision.opencv.ImageRotationMode;
 import org.photonvision.vision.pipe.impl.HSVPipe;
 
-public interface FrameProvider extends Supplier<Frame> {
-    String getName();
+public abstract class FrameProvider implements Supplier<Frame> {
+    protected int sequenceID = 0;
+
+    public abstract String getName();
 
     /** Ask the camera to produce a certain kind of processed image (e.g. HSV or greyscale) */
-    void requestFrameThresholdType(FrameThresholdType type);
+    public abstract void requestFrameThresholdType(FrameThresholdType type);
 
     /** Ask the camera to rotate frames it outputs */
-    void requestFrameRotation(ImageRotationMode rotationMode);
+    public abstract void requestFrameRotation(ImageRotationMode rotationMode);
 
     /** Ask the camera to provide either the input, output, or both frames. */
-    void requestFrameCopies(boolean copyInput, boolean copyOutput);
+    public abstract void requestFrameCopies(boolean copyInput, boolean copyOutput);
 
     /** Ask the camera to rotate frames it outputs */
-    void requestHsvSettings(HSVPipe.HSVParams params);
+    public abstract void requestHsvSettings(HSVPipe.HSVParams params);
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java
index 034ae6615..396c72e3a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java
@@ -29,7 +29,7 @@ import org.photonvision.vision.pipe.impl.GrayscalePipe;
 import org.photonvision.vision.pipe.impl.HSVPipe;
 import org.photonvision.vision.pipe.impl.RotateImagePipe;
 
-public abstract class CpuImageProcessor implements FrameProvider {
+public abstract class CpuImageProcessor extends FrameProvider {
     protected static class CapturedFrame {
         CVMat colorImage;
         FrameStaticProperties staticProps;
@@ -86,13 +86,20 @@ public abstract class CpuImageProcessor implements FrameProvider {
             } else {
                 outputMat = new CVMat();
             }
+
+            ++sequenceID;
         } else {
             System.out.println("Input was empty!");
             outputMat = new CVMat();
         }
 
         return new Frame(
-                input.colorImage, outputMat, m_processType, input.captureTimestamp, input.staticProps);
+                sequenceID,
+                input.colorImage,
+                outputMat,
+                m_processType,
+                input.captureTimestamp,
+                input.staticProps);
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
index 83a947726..7cc084618 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
@@ -99,7 +99,7 @@ public class FileFrameProvider extends CpuImageProcessor {
     @Override
     public CapturedFrame getInputMat() {
         var out = new CVMat();
-        out.copyTo(originalFrame);
+        out.copyFrom(originalFrame);
 
         // block to keep FPS at a defined rate
         if (System.currentTimeMillis() - lastGetMillis < millisDelay) {
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
index 68f454cda..0f9f301b7 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
@@ -30,7 +30,7 @@ import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ImageRotationMode;
 import org.photonvision.vision.pipe.impl.HSVPipe.HSVParams;
 
-public class LibcameraGpuFrameProvider implements FrameProvider {
+public class LibcameraGpuFrameProvider extends FrameProvider {
     private final LibcameraGpuSettables settables;
 
     static final Logger logger = new Logger(LibcameraGpuFrameProvider.class, LogGroup.Camera);
@@ -92,7 +92,11 @@ public class LibcameraGpuFrameProvider implements FrameProvider {
 
             LibCameraJNI.releasePair(p_ptr);
 
+            // Know frame is good -- increment sequence
+            ++sequenceID;
+
             return new Frame(
+                    sequenceID,
                     colorMat,
                     processedMat,
                     type,
diff --git a/photon-core/src/main/java/org/photonvision/vision/opencv/CVMat.java b/photon-core/src/main/java/org/photonvision/vision/opencv/CVMat.java
index e58f0d11d..728d39915 100644
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/CVMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/CVMat.java
@@ -36,11 +36,11 @@ public class CVMat implements Releasable {
         this(new Mat());
     }
 
-    public void copyTo(CVMat srcMat) {
-        copyTo(srcMat.getMat());
+    public void copyFrom(CVMat srcMat) {
+        copyFrom(srcMat.getMat());
     }
 
-    public void copyTo(Mat srcMat) {
+    public void copyFrom(Mat srcMat) {
         srcMat.copyTo(mat);
     }
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
index 7f69af66c..eff9eaff7 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -116,7 +116,7 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
 
         if (frame.type != FrameThresholdType.GREYSCALE) {
             // We asked for a GREYSCALE frame, but didn't get one -- best we can do is give up
-            return new CVPipelineResult(0, 0, List.of(), frame);
+            return new CVPipelineResult(frame.sequenceID, 0, 0, List.of(), frame);
         }
 
         CVPipeResult<List<AprilTagDetection>> tagDetectionPipeResult;
@@ -219,7 +219,8 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
         var fpsResult = calculateFPSPipe.run(null);
         var fps = fpsResult.output;
 
-        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, multiTagResult, frame);
+        return new CVPipelineResult(
+                frame.sequenceID, sumPipeNanosElapsed, fps, targetList, multiTagResult, frame);
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
index 8e5ae2f46..98e864a48 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
@@ -138,7 +138,7 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
 
         if (frame.type != FrameThresholdType.GREYSCALE) {
             // We asked for a GREYSCALE frame, but didn't get one -- best we can do is give up
-            return new CVPipelineResult(0, 0, List.of(), frame);
+            return new CVPipelineResult(frame.sequenceID, 0, 0, List.of(), frame);
         }
 
         CVPipeResult<List<ArucoDetectionResult>> tagDetectionPipeResult;
@@ -236,7 +236,8 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
         var fpsResult = calculateFPSPipe.run(null);
         var fps = fpsResult.output;
 
-        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, multiTagResult, frame);
+        return new CVPipelineResult(
+                frame.sequenceID, sumPipeNanosElapsed, fps, targetList, multiTagResult, frame);
     }
 
     private void drawThresholdFrame(Mat greyMat, Mat outputMat, int windowSize, double constant) {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
index 8018a3ce7..c0023f1f5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -104,7 +104,7 @@ public class Calibrate3dPipeline
         Mat inputColorMat = frame.colorImage.getMat();
 
         if (this.calibrating || inputColorMat.empty()) {
-            return new CVPipelineResult(0, 0, null, frame);
+            return new CVPipelineResult(frame.sequenceID, 0, 0, null, frame);
         }
 
         if (getSettings().inputImageRotationMode != ImageRotationMode.DEG_0) {
@@ -114,7 +114,7 @@ public class Calibrate3dPipeline
             logger.error(
                     "Input image rotation was non-zero! Calibration wasn't designed to deal with this. Attempting to manually change back to zero");
             getSettings().inputImageRotationMode = ImageRotationMode.DEG_0;
-            return new CVPipelineResult(0, 0, List.of(), frame);
+            return new CVPipelineResult(frame.sequenceID, 0, 0, List.of(), frame);
         }
 
         long sumPipeNanosElapsed = 0L;
@@ -151,10 +151,15 @@ public class Calibrate3dPipeline
         // Return the drawn chessboard if corners are found, if not, then return the
         // input image.
         return new CalibrationPipelineResult(
+                frame.sequenceID,
                 sumPipeNanosElapsed,
                 fps, // Unused but here in case
                 new Frame(
-                        new CVMat(), outputColorCVMat, FrameThresholdType.NONE, frame.frameStaticProperties),
+                        frame.sequenceID,
+                        new CVMat(),
+                        outputColorCVMat,
+                        FrameThresholdType.NONE,
+                        frame.frameStaticProperties),
                 getCornersList());
     }
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
index 8e9292491..cefcddce1 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
@@ -228,6 +228,6 @@ public class ColoredShapePipeline
         var fpsResult = calculateFPSPipe.run(null);
         var fps = fpsResult.output;
 
-        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame);
+        return new CVPipelineResult(frame.sequenceID, sumPipeNanosElapsed, fps, targetList, frame);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
index 8f6d19fdb..a78a0b1f1 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -84,9 +84,15 @@ public class DriverModePipeline
 
         // Flip-flop input and output in the Frame
         return new DriverModePipelineResult(
+                frame.sequenceID,
                 MathUtils.nanosToMillis(totalNanos),
                 fps,
-                new Frame(frame.processedImage, frame.colorImage, frame.type, frame.frameStaticProperties));
+                new Frame(
+                        frame.sequenceID,
+                        frame.processedImage,
+                        frame.colorImage,
+                        frame.type,
+                        frame.frameStaticProperties));
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
index 1b97126e3..4919c9151 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
@@ -92,18 +92,18 @@ public class ObjectDetectionPipeline
     }
 
     @Override
-    protected CVPipelineResult process(Frame input_frame, ObjectDetectionPipelineSettings settings) {
+    protected CVPipelineResult process(Frame frame, ObjectDetectionPipelineSettings settings) {
         long sumPipeNanosElapsed = 0;
 
         // ***************** change based on backend ***********************
 
-        CVPipeResult<List<NeuralNetworkPipeResult>> rknnResult = rknnPipe.run(input_frame.colorImage);
+        CVPipeResult<List<NeuralNetworkPipeResult>> rknnResult = rknnPipe.run(frame.colorImage);
         sumPipeNanosElapsed += rknnResult.nanosElapsed;
         List<NeuralNetworkPipeResult> targetList;
 
         var names = rknnPipe.getClassNames();
 
-        input_frame.colorImage.getMat().copyTo(input_frame.processedImage.getMat());
+        frame.colorImage.getMat().copyTo(frame.processedImage.getMat());
 
         // ***************** change based on backend ***********************
 
@@ -125,7 +125,7 @@ public class ObjectDetectionPipeline
         var fps = fpsResult.output;
 
         return new CVPipelineResult(
-                sumPipeNanosElapsed, fps, collect2dTargetsResult.output, input_frame, names);
+                frame.sequenceID, sumPipeNanosElapsed, fps, collect2dTargetsResult.output, frame, names);
     }
 
     @Override
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
index bf5b73a4e..b92735a53 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -233,6 +233,7 @@ public class OutputStreamPipeline {
         var fps = fpsResult.output;
 
         return new CVPipelineResult(
+                inputAndOutputFrame.sequenceID,
                 sumPipeNanosElapsed,
                 fps, // Unused but here just in case
                 targetsToDraw,
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
index e03889785..fa2cb1a55 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -169,6 +169,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
 
         PipelineProfiler.printReflectiveProfile(pipeProfileNanos);
 
-        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame);
+        return new CVPipelineResult(frame.sequenceID, sumPipeNanosElapsed, fps, targetList, frame);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
index 89339571d..a1317b571 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
@@ -26,6 +26,7 @@ import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.target.TrackedTarget;
 
 public class CVPipelineResult implements Releasable {
+    public final long sequenceID;
     private long imageCaptureTimestampNanos;
     public final double processingNanos;
     public final double fps;
@@ -35,35 +36,57 @@ public class CVPipelineResult implements Releasable {
     public final List<String> objectDetectionClassNames;
 
     public CVPipelineResult(
-            double processingNanos, double fps, List<TrackedTarget> targets, Frame inputFrame) {
-        this(processingNanos, fps, targets, new MultiTargetPNPResult(), inputFrame, List.of());
+            long sequenceID,
+            double processingNanos,
+            double fps,
+            List<TrackedTarget> targets,
+            Frame inputFrame) {
+        this(
+                sequenceID,
+                processingNanos,
+                fps,
+                targets,
+                new MultiTargetPNPResult(),
+                inputFrame,
+                List.of());
     }
 
     public CVPipelineResult(
+            long sequenceID,
             double processingNanos,
             double fps,
             List<TrackedTarget> targets,
             Frame inputFrame,
             List<String> classNames) {
-        this(processingNanos, fps, targets, new MultiTargetPNPResult(), inputFrame, classNames);
+        this(
+                sequenceID,
+                processingNanos,
+                fps,
+                targets,
+                new MultiTargetPNPResult(),
+                inputFrame,
+                classNames);
     }
 
     public CVPipelineResult(
+            long sequenceID,
             double processingNanos,
             double fps,
             List<TrackedTarget> targets,
             MultiTargetPNPResult multiTagResult,
             Frame inputFrame) {
-        this(processingNanos, fps, targets, multiTagResult, inputFrame, List.of());
+        this(sequenceID, processingNanos, fps, targets, multiTagResult, inputFrame, List.of());
     }
 
     public CVPipelineResult(
+            long sequenceID,
             double processingNanos,
             double fps,
             List<TrackedTarget> targets,
             MultiTargetPNPResult multiTagResult,
             Frame inputFrame,
             List<String> classNames) {
+        this.sequenceID = sequenceID;
         this.processingNanos = processingNanos;
         this.fps = fps;
         this.targets = targets != null ? targets : Collections.emptyList();
@@ -74,11 +97,12 @@ public class CVPipelineResult implements Releasable {
     }
 
     public CVPipelineResult(
+            long sequenceID,
             double processingNanos,
             double fps,
             List<TrackedTarget> targets,
             MultiTargetPNPResult multiTagResult) {
-        this(processingNanos, fps, targets, multiTagResult, null, List.of());
+        this(sequenceID, processingNanos, fps, targets, multiTagResult, null, List.of());
     }
 
     public boolean hasTargets() {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java
index 7ad8ff83c..a06bd8443 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java
@@ -29,7 +29,11 @@ public class CalibrationPipelineResult extends CVPipelineResult {
     }
 
     public CalibrationPipelineResult(
-            double latencyNanos, double fps, Frame outputFrame, List<List<Point>> corners) {
-        super(latencyNanos, fps, cornersToTarget(corners), outputFrame);
+            long sequenceID,
+            double latencyNanos,
+            double fps,
+            Frame outputFrame,
+            List<List<Point>> corners) {
+        super(sequenceID, latencyNanos, fps, cornersToTarget(corners), outputFrame);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java
index 609a3f448..67e8160c7 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java
@@ -21,7 +21,7 @@ import java.util.List;
 import org.photonvision.vision.frame.Frame;
 
 public class DriverModePipelineResult extends CVPipelineResult {
-    public DriverModePipelineResult(double latencyNanos, double fps, Frame outputFrame) {
-        super(latencyNanos, fps, List.of(), outputFrame);
+    public DriverModePipelineResult(long seq, double latencyNanos, double fps, Frame outputFrame) {
+        super(seq, latencyNanos, fps, List.of(), outputFrame);
     }
 }
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
index 8958c8546..0850f7e2f 100644
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -193,6 +193,7 @@ public class Calibrate3dPipeTest {
                 calibration3dPipeline.takeSnapshot();
                 var frame =
                         new Frame(
+                                0,
                                 new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
                                 new CVMat(),
                                 FrameThresholdType.NONE,
diff --git a/photon-lib/py/photonlibpy/packet.py b/photon-lib/py/photonlibpy/packet.py
index 559134091..22d407479 100644
--- a/photon-lib/py/photonlibpy/packet.py
+++ b/photon-lib/py/photonlibpy/packet.py
@@ -96,6 +96,14 @@ class Packet:
         """
         return self._decodeGeneric(">l", 4)
 
+    def decodei64(self) -> int:
+        """
+        * Returns a decoded int64 from the packet.
+        *
+        * @return A decoded int64 from the packet.
+        """
+        return self._decodeGeneric(">q", 8)
+
     def decodeDouble(self) -> float:
         """
         * Returns a decoded double from the packet.
diff --git a/photon-lib/py/photonlibpy/photonCamera.py b/photon-lib/py/photonlibpy/photonCamera.py
index 8be306aa5..1ccca6d44 100644
--- a/photon-lib/py/photonlibpy/photonCamera.py
+++ b/photon-lib/py/photonlibpy/photonCamera.py
@@ -1,6 +1,6 @@
 from enum import Enum
 import ntcore
-from wpilib import Timer
+from wpilib import RobotController, Timer
 import wpilib
 from photonlibpy.packet import Packet
 from photonlibpy.photonPipelineResult import PhotonPipelineResult
@@ -78,6 +78,7 @@ class PhotonCamera:
     def getLatestResult(self) -> PhotonPipelineResult:
         self._versionCheck()
 
+        now = RobotController.getFPGATime()
         retVal = PhotonPipelineResult()
         packetWithTimestamp = self._rawBytesEntry.getAtomic()
         byteList = packetWithTimestamp.value
@@ -88,10 +89,8 @@ class PhotonCamera:
         else:
             pkt = Packet(byteList)
             retVal.populateFromPacket(pkt)
-            # NT4 allows us to correct the timestamp based on when the message was sent
-            retVal.setTimestampSeconds(
-                timestamp / 1e6 - retVal.getLatencyMillis() / 1e3
-            )
+            # We don't trust NT4 time, hack around
+            retVal.ntRecieveTimestampMicros = now
             return retVal
 
     def getDriverMode(self) -> bool:
diff --git a/photon-lib/py/photonlibpy/photonPipelineResult.py b/photon-lib/py/photonlibpy/photonPipelineResult.py
index fb045546f..cd2fec335 100644
--- a/photon-lib/py/photonlibpy/photonPipelineResult.py
+++ b/photon-lib/py/photonlibpy/photonPipelineResult.py
@@ -7,14 +7,27 @@ from photonlibpy.photonTrackedTarget import PhotonTrackedTarget
 
 @dataclass
 class PhotonPipelineResult:
-    latencyMillis: float = -1.0
-    timestampSec: float = -1.0
+    # Image capture and NT publish timestamp, in microseconds and in the coprocessor timebase. As
+    # reported by WPIUtilJNI::now.
+    captureTimestampMicros: int = -1
+    publishTimestampMicros: int = -1
+
+    # Mirror of the heartbeat entry -- monotonically increasing
+    sequenceID: int = -1
+
+    # Since we don't trust NT time sync, keep track of when we got this packet into robot code
+    ntRecieveTimestampMicros: int = -1
+
     targets: list[PhotonTrackedTarget] = field(default_factory=list)
     multiTagResult: MultiTargetPNPResult = field(default_factory=MultiTargetPNPResult)
 
     def populateFromPacket(self, packet: Packet) -> Packet:
         self.targets = []
-        self.latencyMillis = packet.decodeDouble()
+
+        self.sequenceID = packet.decodei64()
+        self.captureTimestampMicros = packet.decodei64()
+        self.publishTimestampMicros = packet.decodei64()
+
         targetCount = packet.decode8()
 
         for _ in range(targetCount):
@@ -27,14 +40,20 @@ class PhotonPipelineResult:
 
         return packet
 
-    def setTimestampSeconds(self, timestampSec: float) -> None:
-        self.timestampSec = timestampSec
-
     def getLatencyMillis(self) -> float:
-        return self.latencyMillis
+        return (self.publishTimestampMicros - self.captureTimestampMicros) / 1e3
 
-    def getTimestamp(self) -> float:
-        return self.timestampSec
+    def getTimestampSeconds(self) -> float:
+        """
+        Returns the estimated time the frame was taken, in the recieved system's time base. This is
+        calculated as (NT recieve time (robot base) - (publish timestamp, coproc timebase - capture
+        timestamp, coproc timebase))
+        """
+        # TODO - we don't trust NT4 to correctly latency-compensate ntRecieveTimestampMicros
+        return (
+            self.ntRecieveTimestampMicros
+            - (self.publishTimestampMicros - self.captureTimestampMicros)
+        ) / 1e6
 
     def getTargets(self) -> list[PhotonTrackedTarget]:
         return self.targets
diff --git a/photon-lib/py/photonlibpy/photonPoseEstimator.py b/photon-lib/py/photonlibpy/photonPoseEstimator.py
index a53c10618..b7ddd5083 100644
--- a/photon-lib/py/photonlibpy/photonPoseEstimator.py
+++ b/photon-lib/py/photonlibpy/photonPoseEstimator.py
@@ -207,7 +207,7 @@ class PhotonPoseEstimator:
                 return None
             cameraResult = self._camera.getLatestResult()
 
-        if cameraResult.timestampSec < 0:
+        if cameraResult.getTimestampSeconds() < 0:
             return None
 
         # If the pose cache timestamp was set, and the result is from the same
@@ -215,12 +215,15 @@ class PhotonPoseEstimator:
         # empty result
         if (
             self._poseCacheTimestampSeconds > 0.0
-            and abs(self._poseCacheTimestampSeconds - cameraResult.timestampSec) < 1e-6
+            and abs(
+                self._poseCacheTimestampSeconds - cameraResult.getTimestampSeconds()
+            )
+            < 1e-6
         ):
             return None
 
         # Remember the timestamp of the current result used
-        self._poseCacheTimestampSeconds = cameraResult.timestampSec
+        self._poseCacheTimestampSeconds = cameraResult.getTimestampSeconds()
 
         # If no targets seen, trivial case -- return empty result
         if not cameraResult.targets:
@@ -259,7 +262,7 @@ class PhotonPoseEstimator:
             )
             return EstimatedRobotPose(
                 best,
-                result.timestampSec,
+                result.getTimestampSeconds(),
                 result.targets,
                 PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
             )
@@ -281,7 +284,6 @@ class PhotonPoseEstimator:
         lowestAmbiguityTarget = None
 
         lowestAmbiguityScore = 10.0
-
         for target in result.targets:
             targetPoseAmbiguity = target.poseAmbiguity
 
@@ -307,7 +309,7 @@ class PhotonPoseEstimator:
             targetPosition.transformBy(
                 lowestAmbiguityTarget.getBestCameraToTarget().inverse()
             ).transformBy(self.robotToCamera.inverse()),
-            result.timestampSec,
+            result.getTimestampSeconds(),
             result.targets,
             PoseStrategy.LOWEST_AMBIGUITY,
         )
diff --git a/photon-lib/py/test/data.py b/photon-lib/py/test/data.py
deleted file mode 100644
index 1c3d7897f..000000000
--- a/photon-lib/py/test/data.py
+++ /dev/null
@@ -1,83 +0,0 @@
-# fmt: off
-
-# Apriltag pipeline, no targets visible
-rawBytes1 = [
-    64,45,35,10,111,197,138,185,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-]
-
-# Retroreflective pipeline ,no targets visible
-rawBytes2 = [
-    64,41,107,104,139,218,148,54,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-]
-
-# Retroreflective pipeline, many targets visible (like, at least 5)
-rawBytes3 = [
-    64,49,60,163,231,209,53,17,8,64,54,167,7,236,180,193,9,64,45,220,9,202,55,93,183,63,227,128,0,0,0,0,0,64,86,128,0,0,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,114,144,0,0,0,0,0,64,51,0,0,0,0,0,0,64,115,80,0,0,0,0,0,64,51,0,0,0,0,0,0,64,115,80,0,0,0,0,0,64,77,0,0,0,0,0,0,64,114,144,0,0,0,0,0,64,77,0,0,0,0,0,0,0,191,245,25,16,205,70,208,255,64,20,38,132,240,124,103,173,63,198,77,205,156,15,75,128,64,77,132,163,224,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,98,2,210,254,49,147,12,64,90,73,105,152,56,9,30,64,99,52,180,223,13,131,252,64,88,218,90,145,158,229,134,64,99,250,90,129,206,108,244,64,91,109,45,103,199,246,226,64,98,200,120,160,242,124,4,64,92,220,60,110,97,26,122,0,192,43,81,6,103,64,172,203,64,17,155,176,98,110,238,56,63,170,0,0,0,0,0,0,64,86,128,0,0,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,82,192,0,0,0,0,0,64,93,64,0,0,0,0,0,64,82,192,0,0,0,0,0,64,90,0,0,0,0,0,0,64,83,128,0,0,0,0,0,64,90,0,0,0,0,0,0,64,83,128,0,0,0,0,0,64,93,64,0,0,0,0,0,0,64,55,92,45,193,120,131,71,64,39,83,124,127,93,59,5,63,163,95,95,87,69,127,0,192,82,253,174,44,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,115,16,0,0,8,162,118,64,79,128,0,0,14,168,14,64,115,40,120,120,160,74,2,64,76,112,240,240,158,154,220,64,115,111,255,255,247,93,138,64,76,255,255,255,241,87,242,64,115,87,135,135,95,181,254,64,80,7,135,135,176,178,146,0,64,54,238,153,156,124,254,143,64,33,203,224,209,111,94,118,63,164,170,170,165,226,57,85,192,56,113,167,0,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,114,175,3,128,226,2,249,64,84,42,133,33,58,4,108,64,115,95,3,128,229,226,101,64,82,234,133,33,128,189,196,64,115,111,255,255,29,253,7,64,83,127,255,222,197,251,148,64,114,191,255,255,26,29,155,64,84,191,255,222,127,66,60,0,64,54,24,108,191,99,29,97,64,50,234,255,191,63,2,108,63,159,187,187,135,161,0,0,192,58,144,167,0,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,114,112,0,6,165,21,159,64,37,255,255,112,35,70,217,64,114,220,204,211,38,253,223,64,30,102,101,109,127,219,67,64,114,243,51,57,90,234,97,64,36,204,204,79,220,185,39,64,114,134,102,108,217,2,33,64,43,153,153,9,64,18,94,0,191,248,131,229,0,233,37,92,64,27,57,176,97,1,217,104,63,144,120,120,70,92,211,0,64,82,253,174,64,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,98,156,60,87,45,144,181,64,87,161,225,245,153,66,109,64,98,231,135,162,89,154,95,64,87,124,60,80,183,84,165,64,99,15,15,40,210,111,75,64,88,184,120,138,102,189,147,64,98,195,195,221,166,101,161,64,88,222,30,47,72,171,91,0,63,230,44,178,251,184,167,126,63,240,141,86,39,148,80,111,63,138,170,170,170,170,170,171,0,0,0,0,0,0,0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,99,224,0,0,0,0,0,64,96,96,0,0,0,0,0,64,101,32,0,0,0,0,0,64,96,96,0,0,0,0,0,64,101,32,0,0,0,0,0,64,96,128,0,0,0,0,0,64,99,224,0,0,0,0,0,64,96,128,0,0,0,0,0,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,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-]
-
-# Retroreflective pipeline, exactly one target visible
-rawBytes4 = [
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-]
-
-# Apriltag 2d targets, 2 targets visible
-rawBytes5 = [
-    64,87,61,104,76,240,115,155,2,192,19,10,149,152,236,136,45,64,12,81,172,134,28,107,33,64,0,73,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,108,56,142,143,85,217,250,64,108,243,255,218,95,15,122,64,109,24,142,145,56,72,194,64,99,19,255,209,123,237,92,64,115,191,255,248,85,19,3,64,100,0,0,37,160,240,134,64,115,79,255,247,99,219,159,64,109,224,0,46,132,18,164,4,64,108,64,56,224,0,0,1,64,108,190,88,128,0,0,0,64,115,87,117,32,0,0,0,64,109,250,221,0,0,0,0,64,115,197,222,191,255,255,255,64,100,18,183,0,0,0,0,64,109,146,238,223,255,255,255,64,99,139,100,255,255,255,255,64,25,237,242,228,107,194,46,63,240,75,228,210,151,145,105,64,2,220,85,85,85,85,85,0,0,0,0,0,0,0,0,0,0,0,18,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,117,98,66,80,63,186,109,64,109,242,156,228,38,185,71,64,120,194,66,72,28,206,3,64,100,146,156,228,55,146,195,64,124,223,255,239,192,69,147,64,106,127,255,219,217,70,185,64,121,127,255,247,227,49,253,64,113,239,255,237,228,54,158,4,64,117,143,103,223,255,255,255,64,109,181,117,160,0,0,0,64,121,140,149,64,0,0,0,64,113,240,57,127,255,255,255,64,124,224,95,32,0,0,1,64,106,130,60,64,0,0,1,64,120,183,111,224,0,0,0,64,100,238,35,128,0,0,1,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-]
-
-# Random, old data packet, not sure what it's supposed to have but it should be valid
-rawBytes6 = [
-    64,67,206,198,96,162,1,71,1,63,208,183,103,126,7,178,243,64,43,139,131,227,249,218,186,64,3,41,85,85,85,85,85,0,0,0,0,0,0,0,0,0,0,0,18,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,96,183,95,135,246,244,23,64,80,250,243,32,88,104,23,64,98,63,255,252,129,210,89,64,58,0,0,10,154,37,74,64,103,95,255,248,9,11,233,64,66,255,255,255,79,47,210,64,101,215,95,131,126,45,167,64,83,250,243,29,89,118,174,4,64,96,211,76,255,255,255,255,64,81,29,41,64,0,0,0,64,101,245,167,159,255,255,255,64,83,228,87,223,255,255,255,64,103,121,185,32,0,0,1,64,67,110,64,192,0,0,0,64,98,91,64,32,0,0,0,64,58,246,143,0,0,0,1,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-]
-
-# Random, old data packet, not sure what it's supposed to have but it should be valid
-rawBytes7 = [
-             64,45,115,21,181,115,234,179,1,191,174,13,20,135,142,233,101,
-             64,8,70,95,109,157,41,94,64,88,209,106,37,213,86,0,0,0,0,0,0,0,
-             0,0,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,64,109,223,255,192,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,64,115,239,255,192,0,0,0,0,0,0,0,0,0,0,0,64,115,239,
-             255,192,0,0,0,64,109,223,255,192,0,0,0,0,0,255,255,255,255,255,255,
-             255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,
-             255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,
-             255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,
-             255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-             0,0,0,0,0,0,0,0,0]
-
-# Random, old data packet, not sure what it's supposed to have but it should be valid
-rawBytes8 = [
-    64,45,134,209,124,94,246,48,1,192,20,108,19,172,246,183,250,192,43,132,62,46,
-    45,144,244,63,231,43,236,24,192,165,0,192,84,104,149,84,0,0,0,255,255,255,255,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,
-    0,0,0,0,0,64,93,192,0,11,255,168,69,64,109,224,0,6,159,242,44,64,95,18,247,150,60,
-    55,212,64,105,95,131,45,13,191,220,64,97,109,36,58,0,43,222,64,105,166,163,121,96,
-    13,212,64,96,195,168,116,225,228,22,64,110,39,32,82,242,64,36,0,0,255,255,255,255,
-    255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,
-    255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,
-    255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0
-]
-
-# Random, old data packet, not sure what it's supposed to have but it should be valid
-rawBytes9 = [
-    64,66,131,243,115,41,195,72,2,192,32,5,185,224,7,44,212,64,36,113,236,196,56,3,198,64,4,41,85,85,85,85,86,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,84,58,214,175,241,59,116,64,85,61,37,235,61,113,140,64,89,191,255,199,224,203,48,64,70,127,255,245,50,94,21,64,97,162,148,136,7,98,70,64,80,130,218,20,194,142,116,64,93,191,255,248,31,52,208,64,90,128,0,5,102,208,246,4,64,84,133,113,127,255,255,255,64,84,214,69,192,0,0,1,64,93,244,62,95,255,255,255,64,90,151,84,32,0,0,1,64,97,188,73,96,0,0,0,64,80,177,119,64,0,0,0,64,89,237,96,160,0,0,1,64,70,178,22,160,0,0,1,63,211,145,124,33,214,33,142,64,15,33,250,151,128,46,96,64,6,94,170,170,170,170,171,0,0,0,0,0,0,0,0,0,0,0,18,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,63,240,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,191,240,0,0,0,0,0,0,64,96,13,19,119,56,95,3,64,92,98,154,147,14,69,208,64,100,127,255,255,154,137,77,64,84,64,0,0,118,237,128,64,104,82,236,136,199,160,253,64,92,157,101,108,241,186,48,64,99,224,0,0,101,118,179,64,98,95,255,255,196,137,64,4,64,96,55,169,128,0,0,1,64,92,114,93,64,0,0,0,64,99,228,226,192,0,0,0,64,98,126,35,64,0,0,0,64,104,94,243,224,0,0,0,64,92,187,36,128,0,0,0,64,100,131,245,192,0,0,1,64,84,121,213,192,0,0,1,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-
-]
diff --git a/photon-lib/py/test/photonPoseEstimator_test.py b/photon-lib/py/test/photonPoseEstimator_test.py
index dd8588e6c..9b0a286e1 100644
--- a/photon-lib/py/test/photonPoseEstimator_test.py
+++ b/photon-lib/py/test/photonPoseEstimator_test.py
@@ -36,8 +36,10 @@ def test_lowestAmbiguityStrategy():
 
     cameraOne = PhotonCameraInjector()
     cameraOne.result = PhotonPipelineResult(
-        2,
-        11,
+        0,
+        2 * 1e3,
+        1,
+        11 * 1e6,
         [
             PhotonTrackedTarget(
                 3.0,
@@ -115,7 +117,7 @@ def test_lowestAmbiguityStrategy():
     estimatedPose = estimator.update()
     pose = estimatedPose.estimatedPose
 
-    assertEquals(11, estimatedPose.timestampSeconds)
+    assertEquals(11 - 0.002, estimatedPose.timestampSeconds, 1e-3)
     assertEquals(1, pose.x, 0.01)
     assertEquals(3, pose.y, 0.01)
     assertEquals(2, pose.z, 0.01)
@@ -124,8 +126,10 @@ def test_lowestAmbiguityStrategy():
 def test_multiTagOnCoprocStrategy():
     cameraOne = PhotonCameraInjector()
     cameraOne.result = PhotonPipelineResult(
-        2,
-        11,
+        0,
+        2 * 1e3,
+        1,
+        11 * 1e6,
         # There needs to be at least one target present for pose estimation to work
         # Doesn't matter which/how many targets for this test
         [
@@ -167,7 +171,7 @@ def test_multiTagOnCoprocStrategy():
     estimatedPose = estimator.update()
     pose = estimatedPose.estimatedPose
 
-    assertEquals(11, estimatedPose.timestampSeconds)
+    assertEquals(11 - 2e-3, estimatedPose.timestampSeconds, 1e-3)
     assertEquals(1, pose.x, 0.01)
     assertEquals(3, pose.y, 0.01)
     assertEquals(2, pose.z, 0.01)
@@ -178,8 +182,10 @@ def test_cacheIsInvalidated():
 
     cameraOne = PhotonCameraInjector()
     result = PhotonPipelineResult(
-        2,
-        20,
+        0,
+        2 * 1e3,
+        1,
+        20 * 1e6,
         [
             PhotonTrackedTarget(
                 3.0,
@@ -211,7 +217,9 @@ def test_cacheIsInvalidated():
     )
 
     # Empty result, expect empty result
-    cameraOne.result = PhotonPipelineResult(timestampSec=1)
+    cameraOne.result = PhotonPipelineResult(
+        captureTimestampMicros=0, publishTimestampMicros=0, ntRecieveTimestampMicros=1e6
+    )
     estimatedPose = estimator.update()
     assert estimatedPose is None
 
@@ -220,14 +228,14 @@ def test_cacheIsInvalidated():
     estimatedPose = estimator.update()
     assert estimatedPose is not None
     assertEquals(20, estimatedPose.timestampSeconds, 0.01)
-    assertEquals(20, estimator._poseCacheTimestampSeconds)
+    assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
 
     # And again -- pose cache should mean this is empty
     cameraOne.result = result
     estimatedPose = estimator.update()
     assert estimatedPose is None
     # Expect the old timestamp to still be here
-    assertEquals(20, estimator._poseCacheTimestampSeconds)
+    assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
 
     # Set new field layout -- right after, the pose cache timestamp should be -1
     estimator.fieldTags = AprilTagFieldLayout([AprilTag()], 0, 0)
@@ -236,7 +244,7 @@ def test_cacheIsInvalidated():
     cameraOne.result = result
     estimatedPose = estimator.update()
     assertEquals(20, estimatedPose.timestampSeconds, 0.01)
-    assertEquals(20, estimator._poseCacheTimestampSeconds)
+    assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
 
 
 def assertEquals(expected, actual, epsilon=0.0):
diff --git a/photon-lib/py/test/photonlibpy_test.py b/photon-lib/py/test/photonlibpy_test.py
index 0bc03d587..479c8bad8 100644
--- a/photon-lib/py/test/photonlibpy_test.py
+++ b/photon-lib/py/test/photonlibpy_test.py
@@ -1,64 +1,3 @@
-from photonlibpy.packet import Packet
-from photonlibpy.photonPipelineResult import PhotonPipelineResult
-from data import rawBytes1
-from data import rawBytes2
-from data import rawBytes3
-from data import rawBytes4
-from data import rawBytes5
-from data import rawBytes6
-from data import rawBytes7
-from data import rawBytes8
-from data import rawBytes9
-
-
-def setupCommon(bytesIn):
-    res = PhotonPipelineResult()
-    packet = Packet(bytesIn)
-    res.populateFromPacket(packet)
-    assert packet.outOfBytes is False
-    return res
-
-
-def test_byteParse1():
-    res = setupCommon(rawBytes1)
-    assert len(res.getTargets()) == 0
-
-
-def test_byteParse2():
-    res = setupCommon(rawBytes2)
-    assert len(res.getTargets()) == 0
-
-
-def test_byteParse3():
-    res = setupCommon(rawBytes3)
-    assert len(res.getTargets()) >= 4
-
-
-def test_byteParse4():
-    res = setupCommon(rawBytes4)
-    assert len(res.getTargets()) == 1
-
-
-def test_byteParse5():
-    res = setupCommon(rawBytes5)
-    assert len(res.getTargets()) == 2
-
-
-def test_byteParse6():
-    res = setupCommon(rawBytes6)
-    # assert len(res.getTargets()) >= 0
-
-
-def test_byteParse7():
-    res = setupCommon(rawBytes7)
-    # assert len(res.getTargets()) >= 0
-
-
-def test_byteParse8():
-    res = setupCommon(rawBytes8)
-    # assert len(res.getTargets()) >= 0
-
-
-def test_byteParse9():
-    res = setupCommon(rawBytes9)
-    # assert len(res.getTargets()) >= 0
+def test_roundTrip():
+    # TODO implement packet encoding, or just kill me
+    assert True
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
index 6dbb6811e..6e06bc1b6 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -44,6 +44,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.PubSubOption;
 import edu.wpi.first.networktables.StringSubscriber;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.Optional;
 import java.util.Set;
@@ -181,8 +182,7 @@ public class PhotonCamera implements AutoCloseable {
 
         // Set the timestamp of the result.
         // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
-        ret.setTimestampSeconds(
-                (resultSubscriber.subscriber.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
+        ret.setRecieveTimestampMicros(RobotController.getFPGATime());
 
         // Return result.
         return ret;
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
index 60a1ae2d0..d7df0a44e 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -34,6 +34,7 @@ import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.wpilibj.RobotController;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -539,7 +540,16 @@ public class PhotonCameraSim implements AutoCloseable {
         }
 
         // put this simulated data to NT
-        return new PhotonPipelineResult(latencyMillis, detectableTgts, multitagResult);
+        var now = RobotController.getFPGATime();
+        var ret =
+                new PhotonPipelineResult(
+                        heartbeatCounter,
+                        now - (long) (latencyMillis * 1000),
+                        now,
+                        detectableTgts,
+                        multitagResult);
+        ret.setRecieveTimestampMicros(now);
+        return ret;
     }
 
     /**
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
index 4a0b34249..94225d175 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -29,6 +29,7 @@
 #include <string_view>
 
 #include <frc/Errors.h>
+#include <frc/RobotController.h>
 #include <frc/Timer.h>
 #include <opencv2/core.hpp>
 #include <opencv2/core/mat.hpp>
@@ -115,6 +116,8 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
   PhotonPipelineResult result;
 
   // Fill the packet with latest data and populate result.
+  units::microsecond_t now =
+      units::microsecond_t(frc::RobotController::GetFPGATime());
   const auto value = rawBytesEntry.Get();
   if (!value.size()) return result;
 
@@ -122,8 +125,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
 
   packet >> result;
 
-  result.SetTimestamp(units::microsecond_t(rawBytesEntry.GetLastChange()) -
-                      result.GetLatency());
+  result.SetRecieveTimestamp(now);
 
   return result;
 }
diff --git a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
index bddcc0cb8..720cc48d9 100644
--- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
@@ -40,6 +40,7 @@
 #include <utility>
 #include <vector>
 
+#include <frc/Timer.h>
 #include <frc/apriltag/AprilTagFieldLayout.h>
 #include <frc/apriltag/AprilTagFields.h>
 #include <units/math.h>
@@ -369,7 +370,10 @@ class PhotonCameraSim {
       multiTagResults = MultiTargetPNPResult{pnpResult, usedIds};
     }
 
-    return PhotonPipelineResult{latency, detectableTgts, multiTagResults};
+    units::second_t now = frc::Timer::GetFPGATimestamp();
+
+    return PhotonPipelineResult{heartbeatCounter, now - latency, now,
+                                detectableTgts, multiTagResults};
   }
   void SubmitProcessedFrame(const PhotonPipelineResult& result) {
     SubmitProcessedFrame(result, wpi::Now());
@@ -426,7 +430,7 @@ class PhotonCameraSim {
   PhotonCamera* cam;
 
   NTTopicSet ts{};
-  uint64_t heartbeatCounter{0};
+  int64_t heartbeatCounter{0};
 
   uint64_t nextNTEntryTime{wpi::Now()};
 
diff --git a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h b/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
index 365efebd5..c6f2e8adf 100644
--- a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
+++ b/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
@@ -90,7 +90,7 @@ class SimPhotonCamera : public PhotonCamera {
     latencyMillisEntry.SetDouble(latency.to<double>());
     std::sort(targetList.begin(), targetList.end(),
               [&](auto lhs, auto rhs) { return sortMode(lhs, rhs); });
-    PhotonPipelineResult newResult{latency, targetList};
+    PhotonPipelineResult newResult{0, 0_s, latency, targetList};
     Packet packet{};
     packet << newResult;
 
diff --git a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
index 81842dcc4..734c57077 100644
--- a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
@@ -63,7 +63,9 @@ class PhotonPoseEstimatorTest {
         PhotonCameraInjector cameraOne = new PhotonCameraInjector();
         cameraOne.result =
                 new PhotonPipelineResult(
-                        2,
+                        0,
+                        0,
+                        0,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -122,7 +124,7 @@ class PhotonPoseEstimatorTest {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setTimestampSeconds(11);
+        cameraOne.result.setRecieveTimestampMicros((long) (11 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -142,7 +144,9 @@ class PhotonPoseEstimatorTest {
         PhotonCameraInjector cameraOne = new PhotonCameraInjector();
         cameraOne.result =
                 new PhotonPipelineResult(
-                        2,
+                        0,
+                        0,
+                        0,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -202,7 +206,7 @@ class PhotonPoseEstimatorTest {
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
 
-        cameraOne.result.setTimestampSeconds(4);
+        cameraOne.result.setRecieveTimestampMicros((long) (4 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -225,7 +229,9 @@ class PhotonPoseEstimatorTest {
         PhotonCameraInjector cameraOne = new PhotonCameraInjector();
         cameraOne.result =
                 new PhotonPipelineResult(
-                        2,
+                        0,
+                        0,
+                        0,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -284,7 +290,7 @@ class PhotonPoseEstimatorTest {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setTimestampSeconds(17);
+        cameraOne.result.setRecieveTimestampMicros((long) (17 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -308,7 +314,9 @@ class PhotonPoseEstimatorTest {
         PhotonCameraInjector cameraOne = new PhotonCameraInjector();
         cameraOne.result =
                 new PhotonPipelineResult(
-                        2,
+                        0,
+                        0,
+                        0,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -367,7 +375,7 @@ class PhotonPoseEstimatorTest {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setTimestampSeconds(1);
+        cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -383,7 +391,9 @@ class PhotonPoseEstimatorTest {
 
         cameraOne.result =
                 new PhotonPipelineResult(
-                        2,
+                        0,
+                        0,
+                        0,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -442,7 +452,7 @@ class PhotonPoseEstimatorTest {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        cameraOne.result.setTimestampSeconds(7);
+        cameraOne.result.setRecieveTimestampMicros((long) (7 * 1e6));
 
         estimatedPose = estimator.update();
         pose = estimatedPose.get().estimatedPose;
@@ -458,7 +468,9 @@ class PhotonPoseEstimatorTest {
         PhotonCameraInjector cameraOne = new PhotonCameraInjector();
         var result =
                 new PhotonPipelineResult(
-                        2,
+                        0,
+                        0,
+                        0,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -479,7 +491,7 @@ class PhotonPoseEstimatorTest {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8)))));
-        result.setTimestampSeconds(20);
+        result.setRecieveTimestampMicros((long) (20 * 1e6));
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
@@ -490,7 +502,7 @@ class PhotonPoseEstimatorTest {
 
         // Empty result, expect empty result
         cameraOne.result = new PhotonPipelineResult();
-        cameraOne.result.setTimestampSeconds(1);
+        cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
         Optional<EstimatedRobotPose> estimatedPose = estimator.update();
         assertFalse(estimatedPose.isPresent());
 
@@ -523,7 +535,9 @@ class PhotonPoseEstimatorTest {
         PhotonCameraInjector cameraOne = new PhotonCameraInjector();
         cameraOne.result =
                 new PhotonPipelineResult(
-                        2,
+                        0,
+                        0,
+                        0,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -582,7 +596,7 @@ class PhotonPoseEstimatorTest {
                                                 new TargetCorner(3, 4),
                                                 new TargetCorner(5, 6),
                                                 new TargetCorner(7, 8))))); // 3 3 3 ambig .4
-        cameraOne.result.setTimestampSeconds(20);
+        cameraOne.result.setRecieveTimestampMicros(20 * 1000000);
 
         PhotonPoseEstimator estimator =
                 new PhotonPoseEstimator(
diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
index aed60ff2f..9835d0d72 100644
--- a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
+++ b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
@@ -83,8 +83,8 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {2_ms, targets};
-  cameraOne.testResult.SetTimestamp(units::second_t(11));
+  cameraOne.testResult = {0, 0_s, 2_ms, targets};
+  cameraOne.testResult.SetRecieveTimestamp(units::second_t(11));
 
   photon::PhotonPoseEstimator estimator(aprilTags, photon::LOWEST_AMBIGUITY,
                                         std::move(cameraOne), {});
@@ -138,8 +138,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {2_ms, targets};
-  cameraOne.testResult.SetTimestamp(17_s);
+  cameraOne.testResult = {0, 0_s, 2_ms, targets};
+  cameraOne.testResult.SetRecieveTimestamp(17_s);
 
   photon::PhotonPoseEstimator estimator(
       aprilTags, photon::CLOSEST_TO_CAMERA_HEIGHT, std::move(cameraOne),
@@ -181,8 +181,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {2_ms, targets};
-  cameraOne.testResult.SetTimestamp(units::second_t(17));
+  cameraOne.testResult = {0, 0_s, 2_ms, targets};
+  cameraOne.testResult.SetRecieveTimestamp(units::second_t(17));
 
   photon::PhotonPoseEstimator estimator(
       aprilTags, photon::CLOSEST_TO_REFERENCE_POSE, std::move(cameraOne), {});
@@ -225,8 +225,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {2_ms, targets};
-  cameraOne.testResult.SetTimestamp(units::second_t(17));
+  cameraOne.testResult = {0, 0_s, 2_ms, targets};
+  cameraOne.testResult.SetRecieveTimestamp(units::second_t(17));
 
   photon::PhotonPoseEstimator estimator(aprilTags, photon::CLOSEST_TO_LAST_POSE,
                                         std::move(cameraOne), {});
@@ -259,8 +259,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
                            frc::Rotation3d(0_rad, 0_rad, 0_rad)),
           0.4, corners, detectedCorners}};
 
-  estimator.GetCamera()->testResult = {2_ms, targetsThree};
-  estimator.GetCamera()->testResult.SetTimestamp(units::second_t(21));
+  estimator.GetCamera()->testResult = {0, 0_s, 2_ms, targetsThree};
+  estimator.GetCamera()->testResult.SetRecieveTimestamp(units::second_t(21));
 
   estimatedPose = estimator.Update();
   ASSERT_TRUE(estimatedPose);
@@ -300,8 +300,8 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {2_ms, targets};
-  cameraOne.testResult.SetTimestamp(units::second_t(15));
+  cameraOne.testResult = {0, 0_ms, 2_ms, targets};
+  cameraOne.testResult.SetRecieveTimestamp(units::second_t(15));
 
   photon::PhotonPoseEstimator estimator(aprilTags, photon::AVERAGE_BEST_TARGETS,
                                         std::move(cameraOne), {});
@@ -347,17 +347,18 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
                                         std::move(cameraOne), {});
 
   // empty input, expect empty out
-  estimator.GetCamera()->testResult = {2_ms, {}};
-  estimator.GetCamera()->testResult.SetTimestamp(units::second_t(1));
+  estimator.GetCamera()->testResult = {0, 0_s, 2_ms, {}};
+  estimator.GetCamera()->testResult.SetRecieveTimestamp(units::second_t(1));
   auto estimatedPose = estimator.Update();
   EXPECT_FALSE(estimatedPose);
 
   // Set result, and update -- expect present and timestamp to be 15
-  estimator.GetCamera()->testResult = {3_ms, targets};
-  estimator.GetCamera()->testResult.SetTimestamp(units::second_t(15));
+  estimator.GetCamera()->testResult = {0, 0_s, 3_ms, targets};
+  estimator.GetCamera()->testResult.SetRecieveTimestamp(units::second_t(15));
   estimatedPose = estimator.Update();
   EXPECT_TRUE(estimatedPose);
-  EXPECT_NEAR(15, estimatedPose.value().timestamp.to<double>(), 1e-6);
+  EXPECT_NEAR((15_s - 3_ms).to<double>(),
+              estimatedPose.value().timestamp.to<double>(), 1e-6);
 
   // And again -- now pose cache should be empty
   estimatedPose = estimator.Update();
diff --git a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
index e97e3f165..6a6e6419e 100644
--- a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
+++ b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
@@ -107,6 +107,22 @@ public class Packet {
         packetData[writePos++] = (byte) src;
     }
 
+    /**
+     * Encodes the double into the packet.
+     *
+     * @param data The double to encode.
+     */
+    public void encode(long data) {
+        packetData[writePos++] = (byte) ((data >> 56) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 48) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 40) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 32) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 24) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 16) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 8) & 0xff);
+        packetData[writePos++] = (byte) (data & 0xff);
+    }
+
     /**
      * Encodes the double into the packet.
      *
@@ -160,6 +176,22 @@ public class Packet {
                 | (0xff & packetData[readPos++]);
     }
 
+    public long decodeLong() {
+        if (packetData.length < (readPos + 7)) {
+            return 0;
+        }
+        long data =
+                (long) (0xff & packetData[readPos++]) << 56
+                        | (long) (0xff & packetData[readPos++]) << 48
+                        | (long) (0xff & packetData[readPos++]) << 40
+                        | (long) (0xff & packetData[readPos++]) << 32
+                        | (long) (0xff & packetData[readPos++]) << 24
+                        | (long) (0xff & packetData[readPos++]) << 16
+                        | (long) (0xff & packetData[readPos++]) << 8
+                        | (long) (0xff & packetData[readPos++]);
+        return data;
+    }
+
     /**
      * Returns a decoded double from the packet.
      *
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
index 34f0602b1..1b75f96c7 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
@@ -28,42 +28,67 @@ import org.photonvision.targeting.proto.PhotonPipelineResultProto;
 public class PhotonPipelineResult implements ProtobufSerializable {
     private static boolean HAS_WARNED = false;
 
+    // Image capture and NT publish timestamp, in microseconds and in the coprocessor timebase. As
+    // reported by WPIUtilJNI::now.
+    private long captureTimestampMicros = -1;
+    private long publishTimestampMicros = -1;
+
+    // Mirror of the heartbeat entry -- monotonically increasing
+    private long sequenceID = -1;
+
     // Targets to store.
     public final List<PhotonTrackedTarget> targets = new ArrayList<>();
 
-    // Latency in milliseconds.
-    private double latencyMillis;
-
-    // Timestamp in milliseconds.
-    private double timestampSeconds = -1;
-
     // Multi-tag result
     private MultiTargetPNPResult multiTagResult = new MultiTargetPNPResult();
 
+    // Since we don't trust NT time sync, keep track of when we got this packet into robot code
+    private long ntRecieveTimestampMicros;
+
     /** Constructs an empty pipeline result. */
     public PhotonPipelineResult() {}
 
     /**
      * Constructs a pipeline result.
      *
-     * @param latencyMillis The latency in the pipeline.
+     * @param sequenceID The number of frames processed by this camera since boot
+     * @param captureTimestamp The time, in uS in the coprocessor's timebase, that the coprocessor
+     *     captured the image this result contains the targeting info of
+     * @param publishTimestamp The time, in uS in the coprocessor's timebase, that the coprocessor
+     *     published targeting info
      * @param targets The list of targets identified by the pipeline.
      */
-    public PhotonPipelineResult(double latencyMillis, List<PhotonTrackedTarget> targets) {
-        this.latencyMillis = latencyMillis;
+    public PhotonPipelineResult(
+            long sequenceID,
+            long captureTimestamp,
+            long publishTimestamp,
+            List<PhotonTrackedTarget> targets) {
+        this.captureTimestampMicros = captureTimestamp;
+        this.publishTimestampMicros = publishTimestamp;
+        this.sequenceID = sequenceID;
         this.targets.addAll(targets);
     }
 
     /**
      * Constructs a pipeline result.
      *
-     * @param latencyMillis The latency in the pipeline.
+     * @param sequenceID The number of frames processed by this camera since boot
+     * @param captureTimestamp The time, in uS in the coprocessor's timebase, that the coprocessor
+     *     captured the image this result contains the targeting info of
+     * @param publishTimestamp The time, in uS in the coprocessor's timebase, that the coprocessor
+     *     published targeting info
      * @param targets The list of targets identified by the pipeline.
      * @param result Result from multi-target PNP.
      */
     public PhotonPipelineResult(
-            double latencyMillis, List<PhotonTrackedTarget> targets, MultiTargetPNPResult result) {
-        this.latencyMillis = latencyMillis;
+            long sequenceID,
+            long captureTimestamp,
+            long publishTimestamp,
+            List<PhotonTrackedTarget> targets,
+            MultiTargetPNPResult result) {
+        this.captureTimestampMicros = captureTimestamp;
+        this.publishTimestampMicros = publishTimestamp;
+        this.sequenceID = sequenceID;
         this.targets.addAll(targets);
         this.multiTagResult = result;
     }
@@ -99,32 +124,48 @@ public class PhotonPipelineResult implements ProtobufSerializable {
         return hasTargets() ? targets.get(0) : null;
     }
 
-    /**
-     * Returns the latency in the pipeline.
-     *
-     * @return The latency in the pipeline.
-     */
+    /** Returns the time between image capture and publish to NT */
     public double getLatencyMillis() {
-        return latencyMillis;
+        return (publishTimestampMicros - captureTimestampMicros) / 1e3;
     }
 
     /**
-     * Returns the estimated time the frame was taken, This is more accurate than using <code>
-     * getLatencyMillis()</code>
+     * Returns the estimated time the frame was taken, in the recieved system's time base. This is
+     * calculated as (NT recieve time (robot base) - (publish timestamp, coproc timebase - capture
+     * timestamp, coproc timebase))
      *
-     * @return The timestamp in seconds, or -1 if this result has no timestamp set.
+     * @return The timestamp in seconds
      */
     public double getTimestampSeconds() {
-        return timestampSeconds;
+        return (ntRecieveTimestampMicros - (publishTimestampMicros - captureTimestampMicros)) / 1e6;
+    }
+
+    /** The time that this image was captured, in the coprocessor's time base. */
+    public long getCaptureTimestampMicros() {
+        return captureTimestampMicros;
+    }
+
+    /** The time that this result was published to NT, in the coprocessor's time base. */
+    public long getPublishTimestampMicros() {
+        return publishTimestampMicros;
     }
 
     /**
-     * Sets the FPGA timestamp of this result in seconds.
-     *
-     * @param timestampSeconds The timestamp in seconds.
+     * The number of non-empty frames processed by this camera since boot. Useful to checking if a
+     * camera is alive.
      */
-    public void setTimestampSeconds(double timestampSeconds) {
-        this.timestampSeconds = timestampSeconds;
+    public long getSequenceID() {
+        return sequenceID;
+    }
+
+    /** The time that the robot recieved this result, in the FPGA timebase. */
+    public long getNtRecieveTimestampMicros() {
+        return ntRecieveTimestampMicros;
+    }
+
+    /** Sets the FPGA timestamp this result was recieved by robot code */
+    public void setRecieveTimestampMicros(long timestampMicros) {
+        this.ntRecieveTimestampMicros = timestampMicros;
     }
 
     /**
@@ -157,13 +198,14 @@ public class PhotonPipelineResult implements ProtobufSerializable {
     public int hashCode() {
         final int prime = 31;
         int result = 1;
-        result = prime * result + targets.hashCode();
+        result = prime * result + (int) (captureTimestampMicros ^ (captureTimestampMicros >>> 32));
         long temp;
-        temp = Double.doubleToLongBits(latencyMillis);
-        result = prime * result + (int) (temp ^ (temp >>> 32));
-        temp = Double.doubleToLongBits(timestampSeconds);
+        temp = Double.doubleToLongBits(publishTimestampMicros);
         result = prime * result + (int) (temp ^ (temp >>> 32));
+        result = prime * result + (int) (sequenceID ^ (sequenceID >>> 32));
+        result = prime * result + ((targets == null) ? 0 : targets.hashCode());
         result = prime * result + ((multiTagResult == null) ? 0 : multiTagResult.hashCode());
+        result = prime * result + (int) (ntRecieveTimestampMicros ^ (ntRecieveTimestampMicros >>> 32));
         return result;
     }
 
@@ -173,27 +215,34 @@ public class PhotonPipelineResult implements ProtobufSerializable {
         if (obj == null) return false;
         if (getClass() != obj.getClass()) return false;
         PhotonPipelineResult other = (PhotonPipelineResult) obj;
-        if (!targets.equals(other.targets)) return false;
-        if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis))
-            return false;
-        if (Double.doubleToLongBits(timestampSeconds)
-                != Double.doubleToLongBits(other.timestampSeconds)) return false;
+        if (captureTimestampMicros != other.captureTimestampMicros) return false;
+        if (Double.doubleToLongBits(publishTimestampMicros)
+                != Double.doubleToLongBits(other.publishTimestampMicros)) return false;
+        if (sequenceID != other.sequenceID) return false;
+        if (targets == null) {
+            if (other.targets != null) return false;
+        } else if (!targets.equals(other.targets)) return false;
         if (multiTagResult == null) {
             if (other.multiTagResult != null) return false;
         } else if (!multiTagResult.equals(other.multiTagResult)) return false;
+        if (ntRecieveTimestampMicros != other.ntRecieveTimestampMicros) return false;
         return true;
     }
 
     @Override
     public String toString() {
-        return "PhotonPipelineResult [targets="
+        return "PhotonPipelineResult [captureTimestamp="
+                + captureTimestampMicros
+                + ", publishTimestamp="
+                + publishTimestampMicros
+                + ", sequenceID="
+                + sequenceID
+                + ", targets="
                 + targets
-                + ", latencyMillis="
-                + latencyMillis
-                + ", timestampSeconds="
-                + timestampSeconds
                 + ", multiTagResult="
                 + multiTagResult
+                + ", ntRecieveTimestamp="
+                + ntRecieveTimestampMicros
                 + "]";
     }
 
@@ -206,7 +255,9 @@ public class PhotonPipelineResult implements ProtobufSerializable {
 
         @Override
         public void pack(Packet packet, PhotonPipelineResult value) {
-            packet.encode(value.latencyMillis);
+            packet.encode(value.sequenceID);
+            packet.encode(value.captureTimestampMicros);
+            packet.encode(value.publishTimestampMicros);
             packet.encode((byte) value.targets.size());
             for (var target : value.targets) PhotonTrackedTarget.serde.pack(packet, target);
             MultiTargetPNPResult.serde.pack(packet, value.multiTagResult);
@@ -214,7 +265,9 @@ public class PhotonPipelineResult implements ProtobufSerializable {
 
         @Override
         public PhotonPipelineResult unpack(Packet packet) {
-            var latency = packet.decodeDouble();
+            var seq = packet.decodeLong();
+            var cap = packet.decodeLong();
+            var pub = packet.decodeLong();
             var len = packet.decodeByte();
             var targets = new ArrayList<PhotonTrackedTarget>(len);
             for (int i = 0; i < len; i++) {
@@ -222,7 +275,7 @@ public class PhotonPipelineResult implements ProtobufSerializable {
             }
             var result = MultiTargetPNPResult.serde.unpack(packet);
 
-            return new PhotonPipelineResult(latency, targets, result);
+            return new PhotonPipelineResult(seq, cap, pub, targets, result);
         }
     }
 
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java b/photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java
index dbbc18065..6022c24b7 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java
@@ -49,7 +49,9 @@ public class PhotonPipelineResultProto
     @Override
     public PhotonPipelineResult unpack(ProtobufPhotonPipelineResult msg) {
         return new PhotonPipelineResult(
-                msg.getLatencyMs(),
+                msg.getSequenceId(),
+                msg.getCaptureTimestampMicros(),
+                msg.getNtPublishTimestampMicros(),
                 PhotonTrackedTarget.proto.unpack(msg.getTargets()),
                 MultiTargetPNPResult.proto.unpack(msg.getMultiTargetResult()));
     }
@@ -59,6 +61,8 @@ public class PhotonPipelineResultProto
         PhotonTrackedTarget.proto.pack(msg.getMutableTargets(), value.getTargets());
         MultiTargetPNPResult.proto.pack(msg.getMutableMultiTargetResult(), value.getMultiTagResult());
 
-        msg.setLatencyMs(value.getLatencyMillis());
+        msg.setSequenceId(value.getSequenceID());
+        msg.setCaptureTimestampMicros(value.getCaptureTimestampMicros());
+        msg.setNtPublishTimestampMicros(value.getPublishTimestampMicros());
     }
 }
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
index 3de5bc074..2e3367d0c 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
@@ -19,25 +19,29 @@
 
 namespace photon {
 PhotonPipelineResult::PhotonPipelineResult(
-    units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets)
-    : latency(latency),
-      targets(targets.data(), targets.data() + targets.size()) {}
-
-PhotonPipelineResult::PhotonPipelineResult(
-    units::millisecond_t latency, std::span<const PhotonTrackedTarget> targets,
+    int64_t sequenceID, units::microsecond_t captureTimestamp,
+    units::microsecond_t publishTimestamp,
+    std::span<const PhotonTrackedTarget> targets,
     MultiTargetPNPResult multitagResult)
-    : latency(latency),
+    : sequenceID(sequenceID),
+      captureTimestamp(captureTimestamp),
+      publishTimestamp(publishTimestamp),
       targets(targets.data(), targets.data() + targets.size()),
       multitagResult(multitagResult) {}
 
 bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
-  return latency == other.latency && targets == other.targets &&
-         multitagResult == other.multitagResult;
+  return sequenceID == other.sequenceID &&
+         captureTimestamp == other.captureTimestamp &&
+         publishTimestamp == other.publishTimestamp &&
+         ntRecieveTimestamp == other.ntRecieveTimestamp &&
+         targets == other.targets && multitagResult == other.multitagResult;
 }
 
 Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
   // Encode latency and number of targets.
-  packet << result.latency.value()
+  packet << result.sequenceID
+         << static_cast<int64_t>(result.captureTimestamp.value())
+         << static_cast<int64_t>(result.publishTimestamp.value())
          << static_cast<int8_t>(result.targets.size());
 
   // Encode the information of each target.
@@ -50,21 +54,35 @@ Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
 
 Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
   // Decode latency, existence of targets, and number of targets.
-  double latencyMillis = 0;
+  int64_t sequenceID = 0;
+  int64_t capTS = 0;
+  int64_t pubTS = 0;
   int8_t targetCount = 0;
-  packet >> latencyMillis >> targetCount;
-  result.latency = units::millisecond_t(latencyMillis);
+  std::vector<PhotonTrackedTarget> targets;
+  MultiTargetPNPResult multitagResult;
 
-  result.targets.clear();
+  packet >> sequenceID >> capTS >> pubTS >> targetCount;
+
+  targets.clear();
+  targets.reserve(targetCount);
 
   // Decode the information of each target.
   for (int i = 0; i < targetCount; ++i) {
     PhotonTrackedTarget target;
     packet >> target;
-    result.targets.push_back(target);
+    targets.push_back(target);
   }
 
-  packet >> result.multitagResult;
+  packet >> multitagResult;
+
+  units::microsecond_t captureTS =
+      units::microsecond_t{static_cast<double>(capTS)};
+  units::microsecond_t publishTS =
+      units::microsecond_t{static_cast<double>(pubTS)};
+
+  result = PhotonPipelineResult{sequenceID, captureTS, publishTS, targets,
+                                multitagResult};
+
   return packet;
 }
 }  // namespace photon
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp
index 3605ae594..6beeccaab 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp
@@ -41,7 +41,11 @@ wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(
   }
 
   return photon::PhotonPipelineResult{
-      units::millisecond_t{m->latency_ms()}, targets,
+      m->sequence_id(),
+      units::microsecond_t{static_cast<double>(m->capture_timestamp_micros())},
+      units::microsecond_t{
+          static_cast<double>(m->nt_publish_timestamp_micros())},
+      targets,
       wpi::UnpackProtobuf<photon::MultiTargetPNPResult>(
           m->multi_target_result())};
 }
@@ -50,7 +54,9 @@ void wpi::Protobuf<photon::PhotonPipelineResult>::Pack(
     google::protobuf::Message* msg, const photon::PhotonPipelineResult& value) {
   auto m = static_cast<photonvision::proto::ProtobufPhotonPipelineResult*>(msg);
 
-  m->set_latency_ms(value.latency.value());
+  m->set_sequence_id(value.sequenceID);
+  m->set_capture_timestamp_micros(value.captureTimestamp.value());
+  m->set_nt_publish_timestamp_micros(value.publishTimestamp.value());
 
   m->clear_targets();
   for (const auto& t : value.GetTargets()) {
diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
index c0965fbd9..a34d1df6f 100644
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
@@ -41,21 +41,20 @@ class PhotonPipelineResult {
 
   /**
    * Constructs a pipeline result.
-   * @param latency The latency in the pipeline.
+   * @param sequenceID The number of frames processed by this camera since boot
+   * @param captureTimestamp The time, in uS in the coprocessor's timebase, that
+   * the coprocessor captured the image this result contains the targeting info
+   * of
+   * @param publishTimestamp The time, in uS in the coprocessor's timebase, that
+   * the coprocessor published targeting info
    * @param targets The list of targets identified by the pipeline.
+   * @param multitagResult The multitarget result. Default to empty
    */
-  PhotonPipelineResult(units::millisecond_t latency,
-                       std::span<const PhotonTrackedTarget> targets);
-
-  /**
-   * Constructs a pipeline result.
-   * @param latency The latency in the pipeline.
-   * @param targets The list of targets identified by the pipeline.
-   * @param multitagResult The multitarget result
-   */
-  PhotonPipelineResult(units::millisecond_t latency,
+  PhotonPipelineResult(int64_t sequenceID,
+                       units::microsecond_t captureTimestamp,
+                       units::microsecond_t publishTimestamp,
                        std::span<const PhotonTrackedTarget> targets,
-                       MultiTargetPNPResult multitagResult);
+                       MultiTargetPNPResult multitagResult = {});
 
   /**
    * Returns the best target in this pipeline result. If there are no targets,
@@ -81,7 +80,9 @@ class PhotonPipelineResult {
    * Returns the latency in the pipeline.
    * @return The latency in the pipeline.
    */
-  units::millisecond_t GetLatency() const { return latency; }
+  units::millisecond_t GetLatency() const {
+    return publishTimestamp - captureTimestamp;
+  }
 
   /**
    * Returns the estimated time the frame was taken,
@@ -89,7 +90,9 @@ class PhotonPipelineResult {
    * @return The timestamp in seconds or -1 if this result was not initiated
    * with a timestamp.
    */
-  units::second_t GetTimestamp() const { return timestamp; }
+  units::second_t GetTimestamp() const {
+    return ntRecieveTimestamp - (publishTimestamp - captureTimestamp);
+  }
 
   /**
    * Return the latest mulit-target result, as calculated on your coprocessor.
@@ -99,11 +102,14 @@ class PhotonPipelineResult {
   const MultiTargetPNPResult& MultiTagResult() const { return multitagResult; }
 
   /**
-   * Sets the timestamp in seconds
-   * @param timestamp The timestamp in seconds
+   * The number of non-empty frames processed by this camera since boot. Useful
+   * to checking if a camera is alive.
    */
-  void SetTimestamp(const units::second_t timestamp) {
-    this->timestamp = timestamp;
+  int64_t SequenceID() const { return sequenceID; }
+
+  /** Sets the FPGA timestamp this result was recieved by robot code */
+  void SetRecieveTimestamp(const units::second_t timestamp) {
+    this->ntRecieveTimestamp = timestamp;
   }
 
   /**
@@ -125,8 +131,17 @@ class PhotonPipelineResult {
   friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
   friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
 
-  units::millisecond_t latency = 0_s;
-  units::second_t timestamp = -1_s;
+  // Mirror of the heartbeat entry -- monotonically increasing
+  int64_t sequenceID = -1;
+
+  // Image capture and NT publish timestamp, in microseconds and in the
+  // coprocessor timebase. As reported by WPIUtilJNI::now.
+  units::microsecond_t captureTimestamp;
+  units::microsecond_t publishTimestamp;
+  // Since we don't trust NT time sync, keep track of when we got this packet
+  // into robot code
+  units::microsecond_t ntRecieveTimestamp = -1_s;
+
   wpi::SmallVector<PhotonTrackedTarget, 10> targets;
   MultiTargetPNPResult multitagResult;
   inline static bool HAS_WARNED = false;
diff --git a/photon-targeting/src/main/proto/photon.proto b/photon-targeting/src/main/proto/photon.proto
index d5b75802f..23daca25d 100644
--- a/photon-targeting/src/main/proto/photon.proto
+++ b/photon-targeting/src/main/proto/photon.proto
@@ -56,8 +56,12 @@ message ProtobufPhotonTrackedTarget {
 }
 
 message ProtobufPhotonPipelineResult {
-  double latency_ms = 1;
+  double latency_ms = 1 [deprecated = true];
 
   repeated ProtobufPhotonTrackedTarget targets = 2;
   ProtobufMultiTargetPNPResult multi_target_result = 3;
+
+  int64 sequence_id = 4;
+  int64 capture_timestamp_micros = 5;
+  int64 nt_publish_timestamp_micros = 6;
 }
diff --git a/photon-targeting/src/test/java/org/photonvision/PacketTest.java b/photon-targeting/src/test/java/org/photonvision/PacketTest.java
index 3885f3810..ab361932a 100644
--- a/photon-targeting/src/test/java/org/photonvision/PacketTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/PacketTest.java
@@ -180,7 +180,7 @@ class PacketTest {
 
     @Test
     void pipelineResultSerde() {
-        var ret1 = new PhotonPipelineResult(1, List.of());
+        var ret1 = new PhotonPipelineResult(1, 2, 3, List.of());
         var p1 = new Packet(ret1.getPacketSize());
         PhotonPipelineResult.serde.pack(p1, ret1);
         var unpackedRet1 = PhotonPipelineResult.serde.unpack(p1);
@@ -188,7 +188,9 @@ class PacketTest {
 
         var ret2 =
                 new PhotonPipelineResult(
+                        1,
                         2,
+                        3,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -235,7 +237,9 @@ class PacketTest {
 
         var ret3 =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -289,7 +293,9 @@ class PacketTest {
     public void testMultiTargetSerde() {
         var result =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java
index 72dacda16..5bb1f1b5e 100644
--- a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java
@@ -35,7 +35,9 @@ public class PhotonPipelineResultTest {
 
         a =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -77,7 +79,9 @@ public class PhotonPipelineResultTest {
                                                 new TargetCorner(7, 8)))));
         b =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -121,7 +125,9 @@ public class PhotonPipelineResultTest {
 
         a =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -167,7 +173,9 @@ public class PhotonPipelineResultTest {
                                 List.of(1, 2, 3)));
         b =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -218,7 +226,9 @@ public class PhotonPipelineResultTest {
     public void inequalityTest() {
         var a =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -260,7 +270,9 @@ public class PhotonPipelineResultTest {
                                                 new TargetCorner(7, 8)))));
         var b =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         7.0,
@@ -304,7 +316,9 @@ public class PhotonPipelineResultTest {
 
         a =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -350,7 +364,9 @@ public class PhotonPipelineResultTest {
                                 List.of(3, 4, 7)));
         b =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonPipelineResultProtoTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonPipelineResultProtoTest.java
index c745fab8a..6857a808b 100644
--- a/photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonPipelineResultProtoTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/targeting/proto/PhotonPipelineResultProtoTest.java
@@ -39,7 +39,9 @@ public class PhotonPipelineResultProtoTest {
         // non multitag result
         result =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
@@ -87,7 +89,9 @@ public class PhotonPipelineResultProtoTest {
         // multitag result
         result =
                 new PhotonPipelineResult(
-                        2,
+                        3,
+                        4,
+                        5,
                         List.of(
                                 new PhotonTrackedTarget(
                                         3.0,
diff --git a/photon-targeting/src/test/native/cpp/PacketTest.cpp b/photon-targeting/src/test/native/cpp/PacketTest.cpp
index 1094a3783..61b8bf124 100644
--- a/photon-targeting/src/test/native/cpp/PacketTest.cpp
+++ b/photon-targeting/src/test/native/cpp/PacketTest.cpp
@@ -71,7 +71,7 @@ TEST(PacketTest, PhotonTrackedTarget) {
 }
 
 TEST(PacketTest, PhotonPipelineResult) {
-  photon::PhotonPipelineResult result{1_s, {}};
+  photon::PhotonPipelineResult result{0, 0_s, 1_s, {}};
   photon::Packet p;
   p << result;
 
@@ -109,7 +109,7 @@ TEST(PacketTest, PhotonPipelineResult) {
           {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
            std::pair{7, 8}}}};
 
-  photon::PhotonPipelineResult result2{2_s, targets};
+  photon::PhotonPipelineResult result2{0, 0_s, 1_s, targets};
   photon::Packet p2;
   p2 << result2;
 
diff --git a/photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp b/photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp
index 65c60f0d1..5b46962c6 100644
--- a/photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/proto/PhotonPipelineResultProtoTest.cpp
@@ -21,7 +21,7 @@
 #include "photon/targeting/proto/PhotonPipelineResultProto.h"
 
 TEST(PhotonPipelineResultTest, Roundtrip) {
-  photon::PhotonPipelineResult result{12_ms, {}};
+  photon::PhotonPipelineResult result{0, 0_s, 12_ms, {}};
 
   google::protobuf::Arena arena;
   google::protobuf::Message* proto =
@@ -62,7 +62,7 @@ TEST(PhotonPipelineResultTest, Roundtrip) {
           {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
            std::pair{7, 8}}}};
 
-  photon::PhotonPipelineResult result2{12_ms, targets};
+  photon::PhotonPipelineResult result2{0, 0_s, 12_ms, targets};
 
   proto = wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
   wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result2);
@@ -84,7 +84,7 @@ TEST(PhotonPipelineResultTest, Roundtrip) {
 
   photon::MultiTargetPNPResult multitagRes{pnpRes, {1, 2, 3, 4}};
 
-  photon::PhotonPipelineResult result3{12_ms, targets, multitagRes};
+  photon::PhotonPipelineResult result3{0, 0_s, 12_ms, targets, multitagRes};
 
   proto = wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
   wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result3);