diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index 8b0aa8ee77..92645ac8f1 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -175,12 +175,12 @@ void AP_PiccoloCAN::loop()
         }
 
         // Calculate the output rate for ESC commands
-        _esc_hz = constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);
+        _esc_hz.set(constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX));
 
         uint16_t escCmdRateMs = 1000 / _esc_hz;
 
         // Calculate the output rate for servo commands
-        _srv_hz = constrain_int16(_srv_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);
+        _srv_hz.set(constrain_int16(_srv_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX));
 
         uint16_t servoCmdRateMs = 1000 / _srv_hz;