diff --git a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp
index 6835231b59..ca28bc5d0e 100644
--- a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp
+++ b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp
@@ -57,6 +57,13 @@ uavcan::uint32_t getUtcAjdustmentJumpCount();
  */
 uavcan::UtcDuration getPrevUtcAdjustment();
 
+/**
+ * Sets minimum absolute time error to perform non-gradual jump adjustment rather than speed change.
+ * The parameter must be positive.
+ * This function is thread safe.
+ */
+void setMinJump(uavcan::UtcDuration adj);
+
 }
 
 /**
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
index 9d783eeff8..5a8d0b8685 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
@@ -41,6 +41,8 @@ uavcan::uint32_t utc_jump_cnt = 0;
 uavcan::int32_t utc_correction_usec_per_overflow_x16 = 0;
 uavcan::int64_t prev_adjustment = 0;
 
+uavcan::UtcDuration min_jump = uavcan::UtcDuration::fromMSec(3);
+
 uavcan::uint64_t time_mono = 0;
 uavcan::uint64_t time_utc = 0;
 
@@ -161,9 +163,9 @@ void adjustUtc(uavcan::UtcDuration adjustment)
 
     /*
      * Clock value adjustment
-     * For small adjustments (less than 3 msec) we will rely only on speed change
+     * For small adjustments we will rely only on speed change
      */
-    if (adjustment.getAbs().toMSec() > 2 || !utc_set)
+    if (adjustment.getAbs() > min_jump || !utc_set)
     {
         const uavcan::int64_t adj_usec = adjustment.toUSec();
 
@@ -209,6 +211,19 @@ uavcan::UtcDuration getPrevUtcAdjustment()
     return uavcan::UtcDuration::fromUSec(prev_adjustment);
 }
 
+void setMinJump(uavcan::UtcDuration adj)
+{
+    MutexLocker mlocker(mutex);
+    if (adj.isPositive())
+    {
+        min_jump = adj;
+    }
+    else
+    {
+        assert(0);
+    }
+}
+
 } // namespace clock
 
 SystemClock& SystemClock::instance()