diff --git a/dsdl/uavcan/protocol/550.NodeStatus.uavcan b/dsdl/uavcan/protocol/550.NodeStatus.uavcan
index 49dad14703..0d777fc759 100644
--- a/dsdl/uavcan/protocol/550.NodeStatus.uavcan
+++ b/dsdl/uavcan/protocol/550.NodeStatus.uavcan
@@ -3,10 +3,11 @@
 # Any UAVCAN node is required to publish this message periodically.
 #
 
-uint16 PUBLICATION_PERIOD_MS = 1000
+uint16 MAX_PUBLICATION_PERIOD_MS = 1000
+uint16 MIN_PUBLICATION_PERIOD_MS = 20
 
 # If a node fails to publish this message in this amount of time, it should be considered offline.
-uint16 OFFLINE_TIMEOUT_MS = 5000
+uint16 OFFLINE_TIMEOUT_MS = 3000
 
 # Uptime counter should never overflow.
 uint28 uptime_sec
diff --git a/libuavcan/src/protocol/uc_network_compat_checker.cpp b/libuavcan/src/protocol/uc_network_compat_checker.cpp
index 095343af11..4c215b29c8 100644
--- a/libuavcan/src/protocol/uc_network_compat_checker.cpp
+++ b/libuavcan/src/protocol/uc_network_compat_checker.cpp
@@ -16,8 +16,8 @@ namespace uavcan
 
 MonotonicDuration NetworkCompatibilityChecker::getNetworkDiscoveryDelay() const
 {
-    // Base duration is constant - NodeStatus publication period
-    MonotonicDuration dur = MonotonicDuration::fromMSec(protocol::NodeStatus::PUBLICATION_PERIOD_MS);
+    // Base duration is constant - NodeStatus max publication period
+    MonotonicDuration dur = MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS);
     // Additional duration depends on the node priority - gets larger with higher Node ID
     dur += MonotonicDuration::fromMSec(getNode().getNodeID().get() * 10);
     return dur;
diff --git a/libuavcan/src/protocol/uc_node_status_provider.cpp b/libuavcan/src/protocol/uc_node_status_provider.cpp
index 998564fa9e..32a5bacb7f 100644
--- a/libuavcan/src/protocol/uc_node_status_provider.cpp
+++ b/libuavcan/src/protocol/uc_node_status_provider.cpp
@@ -92,7 +92,7 @@ int NodeStatusProvider::startAndPublish()
         goto fail;
     }
 
-    setStatusPublishingPeriod(MonotonicDuration::fromMSec(protocol::NodeStatus::PUBLICATION_PERIOD_MS));
+    setStatusPublishingPeriod(MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS));
 
     return res;
 
@@ -106,8 +106,8 @@ fail:
 
 void NodeStatusProvider::setStatusPublishingPeriod(uavcan::MonotonicDuration period)
 {
-    const MonotonicDuration maximum = MonotonicDuration::fromMSec(protocol::NodeStatus::PUBLICATION_PERIOD_MS);
-    const MonotonicDuration minimum = MonotonicDuration::fromMSec(50);
+    const MonotonicDuration maximum = MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS);
+    const MonotonicDuration minimum = MonotonicDuration::fromMSec(protocol::NodeStatus::MIN_PUBLICATION_PERIOD_MS);
 
     period = min(period, maximum);
     period = max(period, minimum);
diff --git a/libuavcan/test/protocol/node_status_monitor.cpp b/libuavcan/test/protocol/node_status_monitor.cpp
index eae83b3c24..654a8f24c7 100644
--- a/libuavcan/test/protocol/node_status_monitor.cpp
+++ b/libuavcan/test/protocol/node_status_monitor.cpp
@@ -106,19 +106,19 @@ TEST(NodeStatusMonitor, Basic)
      */
     std::cout << "Starting timeout test, current monotime is " << clock_mock.monotonic << std::endl;
 
-    clock_mock.advance(1000000);
+    clock_mock.advance(500000);
     shortSpin(node);
     st = nsm.getNodeStatus(uavcan::NodeID(10));
     ASSERT_TRUE(st.known);
     ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
 
-    clock_mock.advance(1000000);
+    clock_mock.advance(500000);
     shortSpin(node);
     st = nsm.getNodeStatus(uavcan::NodeID(9));
     ASSERT_TRUE(st.known);
     ASSERT_EQ(NodeStatus::STATUS_INITIALIZING, st.status_code);
 
-    clock_mock.advance(1000000);
+    clock_mock.advance(500000);
     shortSpin(node);
     st = nsm.getNodeStatus(uavcan::NodeID(11));
     ASSERT_TRUE(st.known);
@@ -127,7 +127,7 @@ TEST(NodeStatusMonitor, Basic)
     /*
      * Will timeout now
      */
-    clock_mock.advance(2000000);
+    clock_mock.advance(4000000);
     shortSpin(node);
 
     st = nsm.getNodeStatus(uavcan::NodeID(10));
diff --git a/libuavcan/test/protocol/node_status_provider.cpp b/libuavcan/test/protocol/node_status_provider.cpp
index e6185e5d19..eaa160b6e1 100644
--- a/libuavcan/test/protocol/node_status_provider.cpp
+++ b/libuavcan/test/protocol/node_status_provider.cpp
@@ -47,14 +47,15 @@ TEST(NodeStatusProvider, Basic)
     ASSERT_LE(0, nsp.startAndPublish());
 
     // Checking the publishing rate settings
-    ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::PUBLICATION_PERIOD_MS),
+    ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS),
               nsp.getStatusPublishingPeriod());
 
     nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration());
-    ASSERT_FALSE(nsp.getStatusPublishingPeriod().isZero());
+    ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MIN_PUBLICATION_PERIOD_MS),
+              nsp.getStatusPublishingPeriod());
 
     nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration::fromMSec(3600 * 1000 * 24));
-    ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::PUBLICATION_PERIOD_MS),
+    ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS),
               nsp.getStatusPublishingPeriod());
 
     /*