diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md
index ab9c0d780db..1727e7de8b1 100644
--- a/docs/en/advanced_config/parameter_reference.md
+++ b/docs/en/advanced_config/parameter_reference.md
@@ -47298,6 +47298,14 @@ starve other nodes on the bus.
 | ------- | -------- | -------- | --------- | ------- | ---- | --------- |
 | ✓ | 1        | 255      |           | 255     |      |      |
 
+### UAVCAN_ESC_RTMAX (`INT32`) {#UAVCAN_ESC_RTMAX}
+
+Maximum UAVCAN ESC output rate.
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| ✓ | 1        | 1000     |           | 400     | Hz   |      |
+
 ### UAVCAN_LGT_FN0 (`INT32`) {#UAVCAN_LGT_FN0}
 
 Light 0 function.
@@ -47732,6 +47740,14 @@ uavcan::equipment::range_sensor::Measurement
 | ------- | -------- | -------- | --------- | ------------ | ---- | --------- |
 | ✓ |          |          |           | Disabled (0) |      |      |
 
+### UAVCAN_SV_RTMAX (`INT32`) {#UAVCAN_SV_RTMAX}
+
+Maximum UAVCAN servo output rate.
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| ✓ | 1        | 400      |           | 50      | Hz   |      |
+
 ### UAVCAN_TRACE_EN (`INT32`) {#UAVCAN_TRACE_EN}
 
 UAVCAN event tracing.