diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3518e41f8..e7e0258e0 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -92,7 +92,7 @@ list(APPEND _deps "microcdr\;${_microcdr_version}")
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UCLIENT_SUPERBUILD)
-    project(microxrcedds_client VERSION "2.4.0" LANGUAGES C)
+    project(microxrcedds_client VERSION "2.4.2" LANGUAGES C)
 else()
     project(uclient_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
diff --git a/examples/PublishHelloWorldCAN/main.c b/examples/PublishHelloWorldCAN/main.c
index f6f45b473..ae98a17a9 100644
--- a/examples/PublishHelloWorldCAN/main.c
+++ b/examples/PublishHelloWorldCAN/main.c
@@ -22,7 +22,7 @@
 #include <stdlib.h> //atoi
 
 #define STREAM_HISTORY  8
-#define BUFFER_SIZE     UXR_CONFIG_CAN_TRANSPORT_MTU* STREAM_HISTORY
+#define BUFFER_SIZE     UXR_CAN_TRANSPORT_MTU* STREAM_HISTORY
 
 int main(
         int args,
diff --git a/include/uxr/client/profile/transport/can/can_transport.h b/include/uxr/client/profile/transport/can/can_transport.h
index 3bc36af02..cb77dc30b 100644
--- a/include/uxr/client/profile/transport/can/can_transport.h
+++ b/include/uxr/client/profile/transport/can/can_transport.h
@@ -29,11 +29,12 @@ extern "C"
 #include <uxr/client/visibility.h>
 #include <uxr/client/transport.h>
 
-#define UXR_CONFIG_CAN_TRANSPORT_MTU 63
+/* For CAN-FD, MTU is fixed value */
+#define UXR_CAN_TRANSPORT_MTU 63
 
 typedef struct uxrCANTransport
 {
-    uint8_t buffer[UXR_CONFIG_CAN_TRANSPORT_MTU];
+    uint8_t buffer[UXR_CAN_TRANSPORT_MTU];
     uxrCommunication comm;
     struct uxrCANPlatform platform;
 } uxrCANTransport;
diff --git a/src/c/core/session/stream/output_reliable_stream.c b/src/c/core/session/stream/output_reliable_stream.c
index b3ce287dd..93ca6e25a 100644
--- a/src/c/core/session/stream/output_reliable_stream.c
+++ b/src/c/core/session/stream/output_reliable_stream.c
@@ -62,6 +62,9 @@ bool uxr_prepare_reliable_buffer_to_write(
     uint8_t* buffer = uxr_get_reliable_buffer(&stream->base, seq_num);
     size_t buffer_size = uxr_get_reliable_buffer_size(&stream->base, seq_num);
 
+    uint16_t available_block_size = (uint16_t)(buffer_capacity - (uint16_t)(stream->offset + SUBHEADER_SIZE));
+    size_t remaining_blocks = get_available_free_slots(stream);
+
     // Aligment required for inserting an XRCE subheader
     buffer_size += ucdr_alignment(buffer_size, 4);
 
@@ -95,7 +98,7 @@ bool uxr_prepare_reliable_buffer_to_write(
         }
     }
     /* Check if the message fit in a fragmented message */
-    else
+    else if (length <= available_block_size * remaining_blocks)
     {
         /* Check if the current buffer free space is too small */
         if (buffer_size + (size_t)SUBHEADER_SIZE >= buffer_capacity)
@@ -105,13 +108,10 @@ bool uxr_prepare_reliable_buffer_to_write(
             buffer_size = uxr_get_reliable_buffer_size(&stream->base, seq_num);
         }
 
-        size_t remaining_blocks = get_available_free_slots(stream);
-
-        uint16_t available_block_size = (uint16_t)(buffer_capacity - (uint16_t)(stream->offset + SUBHEADER_SIZE));
         uint16_t first_fragment_size = (uint16_t)(buffer_capacity - (uint16_t)(buffer_size + SUBHEADER_SIZE));
         size_t remaining_size = length - first_fragment_size;
-        size_t last_fragment_size;
-        uint16_t necessary_complete_blocks;
+        size_t last_fragment_size = 0;
+        uint16_t necessary_complete_blocks = 0;
         if (0 == (remaining_size % available_block_size))
         {
             last_fragment_size = available_block_size;
diff --git a/src/c/profile/transport/can/can_transport.c b/src/c/profile/transport/can/can_transport.c
index 97fe09b54..c781ef215 100644
--- a/src/c/profile/transport/can/can_transport.c
+++ b/src/c/profile/transport/can/can_transport.c
@@ -103,7 +103,7 @@ bool uxr_init_can_transport(
         transport->comm.send_msg = send_can_msg;
         transport->comm.recv_msg = recv_can_msg;
         transport->comm.comm_error = get_can_error;
-        transport->comm.mtu = UXR_CONFIG_CAN_TRANSPORT_MTU;
+        transport->comm.mtu = UXR_CAN_TRANSPORT_MTU;
         UXR_INIT_LOCK(&transport->comm.mutex);
         rv = true;
     }
diff --git a/src/c/util/time.c b/src/c/util/time.c
index 66c496dc8..12aec56d0 100644
--- a/src/c/util/time.c
+++ b/src/c/util/time.c
@@ -9,6 +9,22 @@
 #include "task.h"
 #endif /* ifdef WIN32 */
 
+// PX4
+#if defined(__PX4_NUTTX) || defined(__PX4_POSIX) || defined(UCLIENT_PLATFORM_NUTTX) || defined(UCLIENT_PLATFORM_POSIX)
+
+#ifdef	__cplusplus
+# define __BEGIN_DECLS	extern "C" {
+# define __END_DECLS	}
+#else
+# define __BEGIN_DECLS
+# define __END_DECLS
+#endif
+
+#define __EXPORT __attribute__ ((visibility ("default")))
+#include <drivers/drv_hrt.h>
+
+#endif // PX4
+
 //==================================================================
 //                             PUBLIC
 //==================================================================
@@ -55,6 +71,9 @@ int64_t uxr_nanos(
     struct timespec ts;
     z_impl_clock_gettime(CLOCK_REALTIME, &ts);
     return (((int64_t)ts.tv_sec) * 1000000000) + ts.tv_nsec;
+#elif defined(__PX4_NUTTX) || defined(__PX4_POSIX) || defined(UCLIENT_PLATFORM_NUTTX) || defined(UCLIENT_PLATFORM_POSIX)
+
+    return (int64_t)(hrt_absolute_time() * 1000);
 #else
     struct timespec ts;
     clock_gettime(CLOCK_REALTIME, &ts);