diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.h b/boards/bitcraze/crazyflie/syslink/syslink_main.h
index 5e5952dd06..fc28a1b40d 100644
--- a/boards/bitcraze/crazyflie/syslink/syslink_main.h
+++ b/boards/bitcraze/crazyflie/syslink/syslink_main.h
@@ -48,6 +48,8 @@
 #include "syslink.h"
 #include "crtp.h"
 
+using namespace time_literals;
+
 #define MIN(X, Y) (((X) < (Y)) ? (X) : (Y))
 
 
@@ -137,7 +139,9 @@ private:
 
 	uORB::PublicationMulti<input_rc_s>		_rc_pub{ORB_ID(input_rc)};
 
-	Battery _battery{1, nullptr};
+	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
+	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US};
 
 	int32_t _rssi;
 	battery_state _bstate;
diff --git a/src/drivers/power_monitor/ina226/ina226.cpp b/src/drivers/power_monitor/ina226/ina226.cpp
index d013ea62a0..97fdd6789f 100644
--- a/src/drivers/power_monitor/ina226/ina226.cpp
+++ b/src/drivers/power_monitor/ina226/ina226.cpp
@@ -49,7 +49,7 @@ INA226::INA226(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int
 	_comms_errors(perf_alloc(PC_COUNT, "ina226_com_err")),
 	_collection_errors(perf_alloc(PC_COUNT, "ina226_collection_err")),
 	_measure_errors(perf_alloc(PC_COUNT, "ina226_measurement_err")),
-	_battery(battery_index, this)
+	_battery(battery_index, this, INA226_SAMPLE_INTERVAL_US)
 {
 	float fvalue = MAX_CURRENT;
 	_max_current = fvalue;
diff --git a/src/drivers/power_monitor/ina226/ina226.h b/src/drivers/power_monitor/ina226/ina226.h
index 6f4740752d..06f2c8846e 100644
--- a/src/drivers/power_monitor/ina226/ina226.h
+++ b/src/drivers/power_monitor/ina226/ina226.h
@@ -13,6 +13,8 @@
 #include <uORB/topics/parameter_update.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+using namespace time_literals;
+
 /* Configuration Constants */
 #define INA226_BASEADDR 	                    0x41 /* 7-bit address. 8-bit address is 0x41 */
 // If initialization is forced (with the -f flag on the command line), but it fails, the drive will try again to
@@ -98,7 +100,9 @@
 #define INA226_SUL                           (1 << 14)
 #define INA226_SOL                           (1 << 15)
 
-#define INA226_CONVERSION_INTERVAL 	          (100000-7) /* 100 ms / 10 Hz */
+#define INA226_SAMPLE_FREQUENCY_HZ            10
+#define INA226_SAMPLE_INTERVAL_US             (1_s / INA226_SAMPLE_FREQUENCY_HZ)
+#define INA226_CONVERSION_INTERVAL            (INA226_SAMPLE_INTERVAL_US - 7)
 #define MAX_CURRENT                           164.0f    /* 164 Amps */
 #define DN_MAX                                32768.0f  /* 2^15 */
 #define INA226_CONST                          0.00512f  /* is an internal fixed value used to ensure scaling is maintained properly  */
@@ -139,7 +143,7 @@ protected:
 
 private:
 	bool			        _sensor_ok{false};
-	int				        _measure_interval{0};
+	unsigned                        _measure_interval{0};
 	bool			        _collect_phase{false};
 	bool 					_initialized{false};
 
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.cpp b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
index b610e28ece..da5a532a55 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm.cpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
@@ -50,7 +50,7 @@ VOXLPM::VOXLPM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, VOX
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
 	_ch_type(ch_type),
-	_battery(1, this)
+	_battery(1, this, _meas_interval_us)
 {
 	if (_ch_type == VOXLPM_CH_TYPE_VBATT) {
 		_rsense = VOXLPM_RSENSE_VBATT;
@@ -100,13 +100,13 @@ VOXLPM::print_status()
 	printf("  - voltage: %9.2f VDC \n", (double)_voltage);
 	printf("  - current: %9.2f ADC \n", (double)_amperage);
 	printf("  - rsense: %9.6f ohm \n", (double)_rsense);
-	printf("  - meas interval:  %u us \n", _meas_interval);
+	printf("  - meas interval:  %u us \n", _meas_interval_us);
 }
 
 void
 VOXLPM::start()
 {
-	ScheduleOnInterval(_meas_interval, 1000);
+	ScheduleOnInterval(_meas_interval_us, 1000);
 }
 
 void
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.hpp b/src/drivers/power_monitor/voxlpm/voxlpm.hpp
index f1a3f93b65..b010ed9167 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm.hpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm.hpp
@@ -73,6 +73,8 @@
 #include <uORB/topics/power_monitor.h>
 #include <uORB/topics/parameter_update.h>
 
+using namespace time_literals;
+
 /*
  * Note that these are unshifted addresses.
  */
@@ -162,7 +164,7 @@ private:
 	void 			start();
 	int 			measure();
 
-	static constexpr unsigned 		_meas_interval{100000}; // 100ms
+	static constexpr unsigned _meas_interval_us{100_ms};
 	perf_counter_t		_sample_perf;
 
 	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
index 53b8199ee2..ecc15e3bd4 100644
--- a/src/lib/battery/battery.cpp
+++ b/src/lib/battery/battery.cpp
@@ -45,15 +45,18 @@
 #include <cstring>
 #include <px4_platform_common/defines.h>
 
-Battery::Battery(int index, ModuleParams *parent) :
+using namespace time_literals;
+
+Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us) :
 	ModuleParams(parent),
 	_index(index < 1 || index > 9 ? 1 : index),
 	_warning(battery_status_s::BATTERY_WARNING_NONE),
 	_last_timestamp(0)
 {
-	_voltage_filter_v.setParameters(.01f, 1.f);
-	_current_filter_a.setParameters(.01f, .5f);
-	_throttle_filter.setParameters(.01f, 1.f);
+	const float expected_filter_dt = static_cast<float>(sample_interval_us) / 1_s;
+	_voltage_filter_v.setParameters(expected_filter_dt, 1.f);
+	_current_filter_a.setParameters(expected_filter_dt, .5f);
+	_throttle_filter.setParameters(expected_filter_dt, 1.f);
 
 	if (index > 9 || index < 1) {
 		PX4_ERR("Battery index must be between 1 and 9 (inclusive). Received %d. Defaulting to 1.", index);
diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h
index 5b32bf7f1f..8d4145318a 100644
--- a/src/lib/battery/battery.h
+++ b/src/lib/battery/battery.h
@@ -64,7 +64,7 @@
 class Battery : public ModuleParams
 {
 public:
-	Battery(int index, ModuleParams *parent);
+	Battery(int index, ModuleParams *parent, const int sample_interval_us);
 
 	~Battery();
 
diff --git a/src/modules/battery_status/analog_battery.cpp b/src/modules/battery_status/analog_battery.cpp
index 17e4075757..a2e2835875 100644
--- a/src/modules/battery_status/analog_battery.cpp
+++ b/src/modules/battery_status/analog_battery.cpp
@@ -15,8 +15,8 @@ static constexpr int DEFAULT_V_CHANNEL[1] = {0};
 static constexpr int DEFAULT_I_CHANNEL[1] = {0};
 #endif
 
-AnalogBattery::AnalogBattery(int index, ModuleParams *parent) :
-	Battery(index, parent)
+AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us) :
+	Battery(index, parent, sample_interval_us)
 {
 	char param_name[17];
 
diff --git a/src/modules/battery_status/analog_battery.h b/src/modules/battery_status/analog_battery.h
index 35c7d9ca50..42b4e2c3fa 100644
--- a/src/modules/battery_status/analog_battery.h
+++ b/src/modules/battery_status/analog_battery.h
@@ -39,7 +39,7 @@
 class AnalogBattery : public Battery
 {
 public:
-	AnalogBattery(int index, ModuleParams *parent);
+	AnalogBattery(int index, ModuleParams *parent, const int sample_interval_us);
 
 	/**
 	 * Update current battery status message.
diff --git a/src/modules/battery_status/battery_status.cpp b/src/modules/battery_status/battery_status.cpp
index 453d6e4e26..b7df0bae56 100644
--- a/src/modules/battery_status/battery_status.cpp
+++ b/src/modules/battery_status/battery_status.cpp
@@ -103,6 +103,9 @@ private:
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};				/**< notification of parameter updates */
 	uORB::Subscription	_adc_report_sub{ORB_ID(adc_report)};
 
+	static constexpr uint32_t SAMPLE_FREQUENCY_HZ = 100;
+	static constexpr uint32_t SAMPLE_INTERVAL_US  = 1_s / SAMPLE_FREQUENCY_HZ;
+
 	AnalogBattery _battery1;
 
 #if BOARD_NUMBER_BRICKS > 1
@@ -135,9 +138,9 @@ private:
 BatteryStatus::BatteryStatus() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
-	_battery1(1, this),
+	_battery1(1, this, SAMPLE_INTERVAL_US),
 #if BOARD_NUMBER_BRICKS > 1
-	_battery2(2, this),
+	_battery2(2, this, SAMPLE_INTERVAL_US),
 #endif
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
 {
@@ -277,7 +280,7 @@ BatteryStatus::task_spawn(int argc, char *argv[])
 bool
 BatteryStatus::init()
 {
-	ScheduleOnInterval(10_ms); // 100 Hz
+	ScheduleOnInterval(SAMPLE_INTERVAL_US);
 
 	return true;
 }
diff --git a/src/modules/esc_battery/EscBattery.cpp b/src/modules/esc_battery/EscBattery.cpp
index 71a7199780..0eeb8934e7 100644
--- a/src/modules/esc_battery/EscBattery.cpp
+++ b/src/modules/esc_battery/EscBattery.cpp
@@ -38,7 +38,7 @@ using namespace time_literals;
 EscBattery::EscBattery() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
-	_battery(1, this)
+	_battery(1, this, ESC_BATTERY_INTERVAL_US)
 {
 }
 
@@ -50,6 +50,8 @@ EscBattery::init()
 		return false;
 	}
 
+	_esc_status_sub.set_interval_us(ESC_BATTERY_INTERVAL_US);
+
 	return true;
 }
 
diff --git a/src/modules/esc_battery/EscBattery.hpp b/src/modules/esc_battery/EscBattery.hpp
index 60a53e300c..0c2a6cc8b1 100644
--- a/src/modules/esc_battery/EscBattery.hpp
+++ b/src/modules/esc_battery/EscBattery.hpp
@@ -47,6 +47,8 @@
 #include <uORB/topics/actuator_controls.h>
 #include <battery/battery.h>
 
+using namespace time_literals;
+
 class EscBattery : public ModuleBase<EscBattery>, public ModuleParams, public px4::WorkItem
 {
 public:
@@ -73,5 +75,6 @@ private:
 	uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};
 	uORB::SubscriptionCallbackWorkItem _esc_status_sub{this, ORB_ID(esc_status)};
 
+	static constexpr uint32_t ESC_BATTERY_INTERVAL_US = 20_ms; // assume higher frequency esc feedback than 50Hz
 	Battery _battery;
 };
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index acbf068b09..da8b5708ca 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -81,6 +81,8 @@
 #include <v2.0/mavlink_types.h>
 #include <lib/battery/battery.h>
 
+using namespace time_literals;
+
 //! Enumeration to use on the bitmask in HIL_SENSOR
 enum class SensorSource {
 	ACCEL		= 0b111,
@@ -193,7 +195,10 @@ private:
 	class SimulatorBattery : public Battery
 	{
 	public:
-		SimulatorBattery() : Battery(1, nullptr) {}
+		static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ = 100; // Hz
+		static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_INTERVAL_US = 1_s / SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ;
+
+		SimulatorBattery() : Battery(1, nullptr, SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {}
 
 		virtual void updateParams() override
 		{
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 5499bdd4a6..0922caaf30 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -350,7 +350,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
 	static uint64_t last_integration_us = 0;
 
 	// battery simulation (limit update to 100Hz)
-	if (hrt_elapsed_time(&_last_battery_timestamp) >= 10_ms) {
+	if (hrt_elapsed_time(&_last_battery_timestamp) >= SimulatorBattery::SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {
 
 		const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;