diff --git a/dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan b/dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan
index 329bfff8e6..30a966eb78 100644
--- a/dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan
+++ b/dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan
@@ -4,11 +4,14 @@
 #
 
 #
-# Given min election timeout and cluster size, the maximum request interval can be derived as follows:
-#   max request interval = (min election timeout) / 2 requests / (cluster size - 1)
-# Obviously, request interval can be lower than that if needed, but not higher.
+# Given min election timeout and cluster size, the maximum recommended request interval can be derived as follows:
+#   max recommended request interval = (min election timeout) / 2 requests / (cluster size - 1)
+# The equation assumes that the Leader requests one Follower at a time, so that there's at most one pending call
+# at any moment. Such behavior is optimal as it creates uniform bus load, but it is actually implementation-specific.
+# Obviously, request interval can be lower than that if needed, but higher values are not recommended as they may
+# cause Followers to initiate premature elections in case of intensive frame losses or delays.
 #
-# Real timeout is randomized in the range (MIN, MAX].
+# Real timeout is randomized in the range (MIN, MAX], according to the Raft paper.
 #
 uint16 DEFAULT_MIN_ELECTION_TIMEOUT_MS = 4000
 uint16 DEFAULT_MAX_ELECTION_TIMEOUT_MS = 6000
@@ -19,8 +22,8 @@ uint8 prev_log_index
 uint8 leader_commit
 
 #
-# Worst-case replication time can be computed as:
-#   worst replication time = (127 log entries) * (2 trips of next_index) * (cluster size - 1) * (request interval)
+# Worst-case replication time per Follower can be computed as:
+#   worst replication time = (127 log entries) * (2 trips of next_index) * (request interval per Follower)
 #
 Entry[<=1] entries