diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
index f874cba3a4..89cf558ff4 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
@@ -176,7 +176,7 @@ void *send(void *args)
 			}
 		}
 @[    end for]@
-		px4_usleep(_options.sleep_ms * 1000);
+		px4_usleep(_options.sleep_us);
 		++data->sent_loop;
 	}
 
@@ -310,7 +310,7 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_rcvd, uint64
 		// loop forever if informed loop number is negative
 		if (_options.loops >= 0 && rcvd_loop >= _options.loops) { break; }
 
-		px4_usleep(_options.sleep_ms * 1000);
+		px4_usleep(_options.sleep_us);
 		++rcvd_loop;
 	}
 
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
index d7b76e1bd6..37b149d989 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
@@ -50,7 +50,7 @@
 #include <uORB/uORB.h>
 
 #define LOOPS -1
-#define SLEEP_MS 1
+#define SLEEP_US 1
 #define BAUDRATE 460800
 #define DEVICE "/dev/ttyACM0"
 #define POLL_MS 1
@@ -81,7 +81,7 @@ struct options {
 	char ip[16] = IP;
 	uint16_t recv_port = DEFAULT_RECV_PORT;
 	uint16_t send_port = DEFAULT_SEND_PORT;
-	uint32_t sleep_ms = SLEEP_MS;
+	uint32_t sleep_us = SLEEP_US;
 	uint32_t baudrate = BAUDRATE;
 	uint32_t poll_ms = POLL_MS;
 	int loops = LOOPS;
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
index 3c4e77c788..ae81c0a103 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
@@ -78,7 +78,7 @@ static void usage(const char *name)
 	PRINT_MODULE_USAGE_PARAM_INT('p', -1, 1, 1000, "Poll timeout for UART in ms", true);
 	PRINT_MODULE_USAGE_PARAM_INT('l', 10000, -1, 100000, "Limit number of iterations until the program exits (-1=infinite)",
 				     true);
-	PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000, "Time in ms for which each iteration sleeps", true);
+	PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000000, "Time in us for which each iteration sleeps", true);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 2019, 0, 65536, "Select UDP Network Port for receiving (local)", true);
 	PRINT_MODULE_USAGE_PARAM_INT('s', 2020, 0, 65536, "Select UDP Network Port for sending (remote)", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('i', "127.0.0.1", "<x.x.x.x>", "Select IP address (remote)", true);
@@ -106,7 +106,7 @@ static int parse_options(int argc, char *argv[])
 
 		case 'l': _options.loops           =  strtol(myoptarg, nullptr, 10);    break;
 
-		case 'w': _options.sleep_ms        = strtoul(myoptarg, nullptr, 10);    break;
+		case 'w': _options.sleep_us        = strtoul(myoptarg, nullptr, 10);    break;
 
 		case 'b': {
 				int baudrate = 0;
@@ -120,6 +120,8 @@ static int parse_options(int argc, char *argv[])
 				break;
 			}
 
+		case 'p': _options.poll_ms         = strtoul(myoptarg, nullptr, 10);    break;
+
 		case 'r': _options.recv_port       = strtoul(myoptarg, nullptr, 10);    break;
 
 		case 's': _options.send_port       = strtoul(myoptarg, nullptr, 10);    break;
@@ -165,7 +167,7 @@ static int micrortps_start(int argc, char *argv[])
 						       _options.sw_flow_control, _options.hw_flow_control, _options.verbose_debug);
 			PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; sleep: %" PRIu32 "ms; poll: %" PRIu32
 				 "ms; flow_control: %s",
-				 _options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms,
+				 _options.device, _options.baudrate, _options.sleep_us, _options.poll_ms,
 				 _options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
 		}
 		break;
@@ -173,8 +175,8 @@ static int micrortps_start(int argc, char *argv[])
 	case options::eTransports::UDP: {
 			transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port,
 						      _options.verbose_debug);
-			PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16 "; sleep: %" PRIu32 "ms",
-				 _options.ip, _options.recv_port, _options.send_port, _options.sleep_ms);
+			PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16 "; sleep: %" PRIu32 "us",
+				 _options.ip, _options.recv_port, _options.send_port, _options.sleep_us);
 
 		}
 		break;