diff --git a/CHANGELOG.md b/CHANGELOG.md
index ffc4d4e72..966076f72 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -31,6 +31,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - btstack_stdin_embedded: use timer to poll RTT input, fix for tickless RTOS
 - gatt_client: return ERROR_CODE_UNKNOWN_CONNECTION_IDENTIFIER for invalid connection handle
 - A2DP: emit A2DP_SUBEVENT_STREAM_ESTABLISHED with if connection fails, e.g. because of Page Timeout
+- A2DP: use samples as timestamp, fixes issue with Apple Airpods Pro 2nd Gen
 - PBAP Client: make pbap_set_property_selector work for Pull Phonebook
 - esp32: fix power amplifier control on Lyra T v4.3
 
diff --git a/example/a2dp_source_demo.c b/example/a2dp_source_demo.c
index a65fdf2a9..fbeb5835c 100644
--- a/example/a2dp_source_demo.c
+++ b/example/a2dp_source_demo.c
@@ -101,7 +101,8 @@ typedef struct {
     btstack_timer_source_t audio_timer;
     uint8_t  streaming;
     int      max_media_payload_size;
-    
+    uint32_t rtp_timestamp;
+
     uint8_t  sbc_storage[SBC_STORAGE_SIZE];
     uint16_t sbc_storage_count;
     uint8_t  sbc_ready_to_send;
@@ -351,10 +352,16 @@ static void a2dp_demo_hexcmod_configure_sample_rate(int sample_rate){
 static void a2dp_demo_send_media_packet(void){
     int num_bytes_in_frame = btstack_sbc_encoder_sbc_buffer_length();
     int bytes_in_storage = media_tracker.sbc_storage_count;
-    uint8_t num_frames = bytes_in_storage / num_bytes_in_frame;
+    uint8_t num_sbc_frames = bytes_in_storage / num_bytes_in_frame;
     // Prepend SBC Header
-    media_tracker.sbc_storage[0] = num_frames;  // (fragmentation << 7) | (starting_packet << 6) | (last_packet << 5) | num_frames;
-    avdtp_source_stream_send_media_payload_rtp(media_tracker.a2dp_cid, media_tracker.local_seid, 0, media_tracker.sbc_storage, bytes_in_storage + 1);
+    media_tracker.sbc_storage[0] = num_sbc_frames;  // (fragmentation << 7) | (starting_packet << 6) | (last_packet << 5) | num_frames;
+    a2dp_source_stream_send_media_payload_rtp(media_tracker.a2dp_cid, media_tracker.local_seid, 0,
+                                               media_tracker.rtp_timestamp,
+                                               media_tracker.sbc_storage, bytes_in_storage + 1);
+
+    // update rtp_timestamp
+    unsigned int num_audio_samples_per_sbc_buffer = btstack_sbc_encoder_num_audio_frames();
+    media_tracker.rtp_timestamp += num_sbc_frames * num_audio_samples_per_sbc_buffer;
 
     media_tracker.sbc_storage_count = 0;
     media_tracker.sbc_ready_to_send = 0;
diff --git a/src/classic/a2dp_source.c b/src/classic/a2dp_source.c
index 142529b39..28c55381a 100644
--- a/src/classic/a2dp_source.c
+++ b/src/classic/a2dp_source.c
@@ -207,8 +207,10 @@ int a2dp_max_media_payload_size(uint16_t avdtp_cid, uint8_t local_seid){
     return avdtp_max_media_payload_size(avdtp_cid, local_seid);
 }
 
-uint8_t a2dp_source_stream_send_media_payload_rtp(uint16_t a2dp_cid, uint8_t local_seid, uint8_t marker, uint8_t * payload, uint16_t payload_size){
-    return avdtp_source_stream_send_media_payload_rtp(a2dp_cid, local_seid, marker, payload, payload_size);
+uint8_t
+a2dp_source_stream_send_media_payload_rtp(uint16_t a2dp_cid, uint8_t local_seid, uint8_t marker, uint32_t timestamp,
+                                          uint8_t *payload, uint16_t payload_size) {
+    return avdtp_source_stream_send_media_payload_rtp(a2dp_cid, local_seid, marker, timestamp, payload, payload_size);
 }
 
 uint8_t	a2dp_source_stream_send_media_packet(uint16_t a2dp_cid, uint8_t local_seid, const uint8_t * packet, uint16_t size){
diff --git a/src/classic/a2dp_source.h b/src/classic/a2dp_source.h
index 295b8346e..35ecba29a 100644
--- a/src/classic/a2dp_source.h
+++ b/src/classic/a2dp_source.h
@@ -165,12 +165,15 @@ int 	a2dp_max_media_payload_size(uint16_t a2dp_cid, uint8_t local_seid);
  * @param a2dp_cid 			A2DP channel identifier.
  * @param local_seid  		ID of a local stream endpoint.
  * @param marker
+ * @param timestamp         in sample rate units
  * @param payload
  * @param payload_size
  * @param marker
  * @return status
  */
-uint8_t a2dp_source_stream_send_media_payload_rtp(uint16_t a2dp_cid, uint8_t local_seid, uint8_t marker, uint8_t * payload, uint16_t payload_size);
+uint8_t
+a2dp_source_stream_send_media_payload_rtp(uint16_t a2dp_cid, uint8_t local_seid, uint8_t marker, uint32_t timestamp,
+                                          uint8_t *payload, uint16_t payload_size);
 
 /**
  * @brief Send media packet
diff --git a/src/classic/avdtp_source.c b/src/classic/avdtp_source.c
index 535403983..791f36b61 100644
--- a/src/classic/avdtp_source.c
+++ b/src/classic/avdtp_source.c
@@ -188,7 +188,9 @@ avdtp_source_setup_media_header(uint8_t *media_packet, uint8_t marker, uint16_t
     big_endian_store_32(media_packet, pos, ssrc); // only used for multicast
 }
 
-uint8_t avdtp_source_stream_send_media_payload_rtp(uint16_t avdtp_cid, uint8_t local_seid, uint8_t marker, const uint8_t * payload, uint16_t payload_size){
+uint8_t
+avdtp_source_stream_send_media_payload_rtp(uint16_t avdtp_cid, uint8_t local_seid, uint8_t marker, uint32_t timestamp,
+                                           const uint8_t *payload, uint16_t payload_size) {
     UNUSED(avdtp_cid);
 
     avdtp_stream_endpoint_t * stream_endpoint = avdtp_get_stream_endpoint_for_seid(local_seid);
@@ -207,7 +209,6 @@ uint8_t avdtp_source_stream_send_media_payload_rtp(uint16_t avdtp_cid, uint8_t l
     if (packet_size > buffer_size) return ERROR_CODE_MEMORY_CAPACITY_EXCEEDED;
     l2cap_reserve_packet_buffer();
     uint8_t * media_packet = l2cap_get_outgoing_buffer();
-    uint32_t timestamp = btstack_run_loop_get_time_ms();
     avdtp_source_setup_media_header(media_packet, marker, stream_endpoint->sequence_number, timestamp);
     (void)memcpy(&media_packet[AVDTP_MEDIA_PAYLOAD_HEADER_SIZE], payload, payload_size);
     stream_endpoint->sequence_number++;
diff --git a/src/classic/avdtp_source.h b/src/classic/avdtp_source.h
index 30688aa61..d029b7fc5 100644
--- a/src/classic/avdtp_source.h
+++ b/src/classic/avdtp_source.h
@@ -251,11 +251,14 @@ uint8_t avdtp_source_stream_send_media_packet(uint16_t avdtp_cid, uint8_t local_
  * @param avdtp_cid         AVDTP channel identifier.
  * @param local_seid        ID of a local stream endpoint.
  * @param marker
+ * @param timestamp         in sample rate units
  * @param payload
  * @param size
  * @return status
  */
-uint8_t avdtp_source_stream_send_media_payload_rtp(uint16_t avdtp_cid, uint8_t local_seid, uint8_t marker, const uint8_t * payload, uint16_t size);
+uint8_t
+avdtp_source_stream_send_media_payload_rtp(uint16_t avdtp_cid, uint8_t local_seid, uint8_t marker, uint32_t timestamp,
+                                           const uint8_t *payload, uint16_t size);
 
 /**
  * @brief Request to send a media packet. Packet can be then sent on reception of AVDTP_SUBEVENT_STREAMING_CAN_SEND_MEDIA_PACKET_NOW event.