to answer my own question, I checked the voxl-vision-px4 code and the system time will be set once from gps time (when valid) if it has not been set yet by ntp or manually.
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I would like to be able to synchronize event across multiple platform by using gps time (or unix time based on gps time).
I checked the gps_raw_int message which contains a timestamp but it only seems to be the time since boot and not an unix timestamp. It also seems like the sys_timestamp message might have a gps converted unix time but I am not sure if this message is available as a MPA pipe on the voxl side.
Any pointer to get gps time synchronization would be appreciated !