diff --git a/libuavcan/include/uavcan/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
index d80e1544b3..2be0d39a68 100644
--- a/libuavcan/include/uavcan/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -167,7 +167,7 @@ public:
         return reinterpret_cast<const char*>(data_);
     }
 
-    ValueType& at(SizeType pos)             { return data_[validateRange(pos)]; }
+    ValueType& at(SizeType pos)             { return data_[Base::validateRange(pos)]; }
     const ValueType& at(SizeType pos) const { return data_[Base::validateRange(pos)]; }
 
     ValueType& operator[](SizeType pos)             { return at(pos); }
diff --git a/libuavcan/include/uavcan/node/publisher.hpp b/libuavcan/include/uavcan/node/publisher.hpp
index a9490a7d1a..f1f67b61c6 100644
--- a/libuavcan/include/uavcan/node/publisher.hpp
+++ b/libuavcan/include/uavcan/node/publisher.hpp
@@ -29,12 +29,12 @@ public:
 
     int broadcast(const DataType& message)
     {
-        return publish(message, TransferTypeMessageBroadcast, NodeID::Broadcast);
+        return BaseType::publish(message, TransferTypeMessageBroadcast, NodeID::Broadcast);
     }
 
     int broadcast(const DataType& message, TransferID tid)
     {
-        return publish(message, TransferTypeMessageBroadcast, NodeID::Broadcast, tid);
+        return BaseType::publish(message, TransferTypeMessageBroadcast, NodeID::Broadcast, tid);
     }
 
     int unicast(const DataType& message, NodeID dst_node_id)
@@ -44,7 +44,7 @@ public:
             assert(0);
             return -ErrInvalidParam;
         }
-        return publish(message, TransferTypeMessageUnicast, dst_node_id);
+        return BaseType::publish(message, TransferTypeMessageUnicast, dst_node_id);
     }
 
     static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromMSec(5); } // 5 ms --> 200 Hz max
diff --git a/libuavcan/src/transport/uc_frame.cpp b/libuavcan/src/transport/uc_frame.cpp
index fb30cbe963..74985f8daf 100644
--- a/libuavcan/src/transport/uc_frame.cpp
+++ b/libuavcan/src/transport/uc_frame.cpp
@@ -175,7 +175,7 @@ bool Frame::isValid() const
         (src_node_id_ == dst_node_id_) ||
         ((transfer_type_ == TransferTypeMessageBroadcast) != dst_node_id_.isBroadcast()) ||
         (transfer_type_ >= NumTransferTypes) ||
-        (payload_len_ > getMaxPayloadLen()) ||
+        (static_cast<int>(payload_len_) > getMaxPayloadLen()) ||
         (!data_type_id_.isValid());
 
     return !invalid;
@@ -213,7 +213,7 @@ std::string Frame::toString() const
                        int(data_type_id_.get()), int(transfer_type_), int(src_node_id_.get()),
                        int(dst_node_id_.get()), int(frame_index_), int(last_frame_), int(transfer_id_.get()));
 
-    for (int i = 0; i < payload_len_; i++)
+    for (unsigned i = 0; i < payload_len_; i++)
     {
         ofs += snprintf(buf + ofs, BUFLEN - ofs, "%02x", payload_[i]);
         if ((i + 1) < payload_len_)
diff --git a/libuavcan/src/transport/uc_transfer_receiver.cpp b/libuavcan/src/transport/uc_transfer_receiver.cpp
index 551fcc479f..0d196a631a 100644
--- a/libuavcan/src/transport/uc_transfer_receiver.cpp
+++ b/libuavcan/src/transport/uc_transfer_receiver.cpp
@@ -187,12 +187,12 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
 
 bool TransferReceiver::isTimedOut(MonotonicTime current_ts) const
 {
-    static const uint64_t INTERVAL_MULT = (1 << TransferID::BitLen) / 2 + 1;
+    static const int64_t INTERVAL_MULT = (1 << TransferID::BitLen) / 2 + 1;
     if (current_ts <= this_transfer_ts_)
     {
         return false;
     }
-    return (current_ts - this_transfer_ts_).toUSec() > (uint64_t(transfer_interval_usec_) * INTERVAL_MULT);
+    return (current_ts - this_transfer_ts_).toUSec() > (int64_t(transfer_interval_usec_) * INTERVAL_MULT);
 }
 
 TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, TransferBufferAccessor& tba)
@@ -210,7 +210,7 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
     const bool first_fame = frame.isFirst();
     const TidRelation tid_rel = getTidRelation(frame);
     const bool iface_timed_out =
-        (frame.getMonotonicTimestamp() - this_transfer_ts_).toUSec() > (uint64_t(transfer_interval_usec_) * 2);
+        (frame.getMonotonicTimestamp() - this_transfer_ts_).toUSec() > (int64_t(transfer_interval_usec_) * 2);
 
     // FSM, the hard way
     const bool need_restart =