diff --git a/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp b/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
index 3a240affed..5b591602f1 100644
--- a/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
+++ b/libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
@@ -120,14 +120,16 @@ public:
     /**
      * Add an additional filter configuration.
      * This method must not be invoked after @ref computeConfiguration().
+     * @return 0 = success, negative for error.
      */
-    int16_t addFilterConfig(const CanFilterConfig& config);
+    int addFilterConfig(const CanFilterConfig& config);
 
     /**
      * This method loads the configuration computed with mergeConfigurations() or explicitly added by addFilterConfig()
      * to the CAN driver. Must be called after computeConfiguration() and addFilterConfig().
+     * @return 0 = success, negative for error.
      */
-    int16_t applyConfiguration();
+    int applyConfiguration();
 
     /**
      * Returns the configuration computed with mergeConfigurations() or added by addFilterConfig().
diff --git a/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp b/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
index efdd336455..a7d5a9f29f 100644
--- a/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
+++ b/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
@@ -102,7 +102,7 @@ int16_t CanAcceptanceFilterConfigurator::mergeConfigurations()
     return 0;
 }
 
-int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
+int CanAcceptanceFilterConfigurator::applyConfiguration(void)
 {
     CanFilterConfig filter_conf_array[MaxCanAcceptanceFilters];
     unsigned int filter_array_size = multiset_configs_.getSize();
@@ -224,7 +224,7 @@ uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
     }
 }
 
-int16_t CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig& config)
+int CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig& config)
 {
     if (multiset_configs_.emplace<const CanFilterConfig&>(config) == NULL)
     {