diff --git a/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan b/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan
index 803c00f0ab..d85fd3232b 100644
--- a/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan
+++ b/dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan
@@ -5,8 +5,9 @@
 # This message is not intended for unicast transfers.
 #
 
-uint16 MAX_PUBLICATION_PERIOD_MS = 2000
-uint16 DEFAULT_PUBLICATION_PERIOD_MS = 1000
+uint16 MAX_PUBLICATION_PERIOD_MS = 1100
+uint16 MIN_PUBLICATION_PERIOD_MS = 350
+
 uint16 PUBLISHER_TIMEOUT_MS = 10000
 
 # UTC time in microseconds when the PREVIOUS GlobalTimeSync message was transmitted.
diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
index ba2b9e766f..ae1128205b 100644
--- a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
+++ b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
@@ -24,6 +24,7 @@ class GlobalTimeSyncSlave : Noncopyable
     MonotonicTime last_adjustment_ts_;
     enum State { Update, Adjust } state_;
     NodeID master_nid_;
+    TransferID prev_tid_;
     uint8_t prev_iface_index_;
 
     ISystemClock& getSystemClock() const { return sub_.getNode().getSystemClock(); }
@@ -48,6 +49,8 @@ public:
     bool isActive() const;
 
     NodeID getMasterNodeID() const;
+
+    MonotonicTime getLastAdjustmentTime() const { return last_adjustment_ts_; }
 };
 
 }
diff --git a/libuavcan/src/protocol/global_time_sync_slave.cpp b/libuavcan/src/protocol/global_time_sync_slave.cpp
index 3143a90856..08671eaeb9 100644
--- a/libuavcan/src/protocol/global_time_sync_slave.cpp
+++ b/libuavcan/src/protocol/global_time_sync_slave.cpp
@@ -32,27 +32,40 @@ void GlobalTimeSyncSlave::updateFromMsg(const ReceivedDataStructure<protocol::Gl
     prev_ts_mono_     = msg.getMonotonicTimestamp();
     master_nid_       = msg.getSrcNodeID();
     prev_iface_index_ = msg.getIfaceIndex();
-    state_             = Adjust;
+    prev_tid_         = msg.getTransferID();
+    state_            = Adjust;
 }
 
 void GlobalTimeSyncSlave::processMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg)
 {
-    const MonotonicDuration time_since_prev_sync = msg.getMonotonicTimestamp() - prev_ts_mono_;
-    assert(!time_since_prev_sync.isNegative());
+    const MonotonicDuration since_prev_msg = msg.getMonotonicTimestamp() - prev_ts_mono_;
+    assert(!since_prev_msg.isNegative());
 
     const bool needs_init = !master_nid_.isValid() || prev_ts_mono_.isZero();
     const bool switch_master = msg.getSrcNodeID() < master_nid_;
-    const bool timeout = time_since_prev_sync.toMSec() > protocol::GlobalTimeSync::PUBLISHER_TIMEOUT_MS;
+    const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::PUBLISHER_TIMEOUT_MS;
 
-    if (switch_master || timeout || needs_init)
+    if (switch_master || pub_timeout || needs_init)
     {
-        UAVCAN_TRACE("GlobalTimeSyncSlave", "Force update: needs_init=%i switch_master=%i timeout=%i",
-                     int(needs_init), int(switch_master), int(timeout));
+        UAVCAN_TRACE("GlobalTimeSyncSlave", "Force update: needs_init=%i switch_master=%i pub_timeout=%i",
+                     int(needs_init), int(switch_master), int(pub_timeout));
         updateFromMsg(msg);
     }
     else if (msg.getIfaceIndex() == prev_iface_index_ && msg.getSrcNodeID() == master_nid_)
     {
-        if (state_ == Adjust && msg.prev_utc_usec > 0)
+        if (state_ == Adjust)
+        {
+            const bool msg_invalid = msg.prev_utc_usec == 0;
+            const bool wrong_tid = prev_tid_.computeForwardDistance(msg.getTransferID()) != 1;
+            const bool wrong_timing = since_prev_msg.toMSec() > protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS;
+            if (msg_invalid || wrong_tid || wrong_timing)
+            {
+                UAVCAN_TRACE("GlobalTimeSyncSlave", "Adjustment skipped: msg_invalid=%i wrong_tid=%i wrong_timing=%i",
+                             int(msg_invalid), int(wrong_tid), int(wrong_timing));
+                state_ = Update;
+            }
+        }
+        if (state_ == Adjust)
         {
             adjustFromMsg(msg);
         }