diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index a6bde46b0..c875c137f 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -32,6 +32,5 @@ jobs:
         go-version: "1.20"
 
     - run: |
-        go mod download
         go mod tidy
         git diff --exit-code
diff --git a/README.md b/README.md
index afd3f3c94..81b455526 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,3 @@
-
 # gomavlib
 
 [![Test](https://github.com/aler9/gomavlib/workflows/test/badge.svg)](https://github.com/aler9/gomavlib/actions?query=workflow:test)
diff --git a/endpoint.go b/endpoint.go
index ea6c80f30..0570aa6b4 100644
--- a/endpoint.go
+++ b/endpoint.go
@@ -6,7 +6,7 @@ import (
 
 // EndpointConf is the interface implemented by all endpoint configurations.
 type EndpointConf interface {
-	init() (Endpoint, error)
+	init(*Node) (Endpoint, error)
 }
 
 // Endpoint is an endpoint, which can create Channels.
diff --git a/endpoint_broadcast.go b/endpoint_broadcast.go
index cbc9def63..208d57054 100644
--- a/endpoint_broadcast.go
+++ b/endpoint_broadcast.go
@@ -57,12 +57,13 @@ type EndpointUDPBroadcast struct {
 type endpointUDPBroadcast struct {
 	conf          EndpointUDPBroadcast
 	pc            net.PacketConn
+	writeTimeout  time.Duration
 	broadcastAddr net.Addr
 
 	terminate chan struct{}
 }
 
-func (conf EndpointUDPBroadcast) init() (Endpoint, error) {
+func (conf EndpointUDPBroadcast) init(node *Node) (Endpoint, error) {
 	ipString, port, err := net.SplitHostPort(conf.BroadcastAddress)
 	if err != nil {
 		return nil, fmt.Errorf("invalid broadcast address")
@@ -99,6 +100,7 @@ func (conf EndpointUDPBroadcast) init() (Endpoint, error) {
 	t := &endpointUDPBroadcast{
 		conf:          conf,
 		pc:            pc,
+		writeTimeout:  node.conf.WriteTimeout,
 		broadcastAddr: &net.UDPAddr{IP: broadcastIP, Port: iport},
 		terminate:     make(chan struct{}),
 	}
@@ -135,7 +137,7 @@ func (t *endpointUDPBroadcast) Read(buf []byte) (int, error) {
 }
 
 func (t *endpointUDPBroadcast) Write(buf []byte) (int, error) {
-	err := t.pc.SetWriteDeadline(time.Now().Add(netWriteTimeout))
+	err := t.pc.SetWriteDeadline(time.Now().Add(t.writeTimeout))
 	if err != nil {
 		return 0, err
 	}
diff --git a/endpoint_client.go b/endpoint_client.go
index 379aa485c..3bd2c9d0e 100644
--- a/endpoint_client.go
+++ b/endpoint_client.go
@@ -13,7 +13,7 @@ import (
 type endpointClientConf interface {
 	isUDP() bool
 	getAddress() string
-	init() (Endpoint, error)
+	init(*Node) (Endpoint, error)
 }
 
 // EndpointTCPClient sets up a endpoint that works with a TCP client.
@@ -33,8 +33,8 @@ func (conf EndpointTCPClient) getAddress() string {
 	return conf.Address
 }
 
-func (conf EndpointTCPClient) init() (Endpoint, error) {
-	return initEndpointClient(conf)
+func (conf EndpointTCPClient) init(node *Node) (Endpoint, error) {
+	return initEndpointClient(node, conf)
 }
 
 // EndpointUDPClient sets up a endpoint that works with a UDP client.
@@ -51,8 +51,8 @@ func (conf EndpointUDPClient) getAddress() string {
 	return conf.Address
 }
 
-func (conf EndpointUDPClient) init() (Endpoint, error) {
-	return initEndpointClient(conf)
+func (conf EndpointUDPClient) init(node *Node) (Endpoint, error) {
+	return initEndpointClient(node, conf)
 }
 
 type endpointClient struct {
@@ -60,7 +60,7 @@ type endpointClient struct {
 	io.ReadWriteCloser
 }
 
-func initEndpointClient(conf endpointClientConf) (Endpoint, error) {
+func initEndpointClient(node *Node, conf endpointClientConf) (Endpoint, error) {
 	_, _, err := net.SplitHostPort(conf.getAddress())
 	if err != nil {
 		return nil, fmt.Errorf("invalid address")
@@ -79,14 +79,14 @@ func initEndpointClient(conf endpointClientConf) (Endpoint, error) {
 					}
 					return "tcp4"
 				}()
-				timedContext, timedContextClose := context.WithTimeout(ctx, netConnectTimeout)
+				timedContext, timedContextClose := context.WithTimeout(ctx, node.conf.ReadTimeout)
 				nconn, err := (&net.Dialer{}).DialContext(timedContext, network, conf.getAddress())
 				timedContextClose()
 				if err != nil {
 					return nil, err
 				}
 
-				return timednetconn.New(netWriteTimeout, nconn), nil
+				return timednetconn.New(node.conf.WriteTimeout, nconn), nil
 			},
 		),
 	}
diff --git a/endpoint_custom.go b/endpoint_custom.go
index 24aa26ee8..808a14868 100644
--- a/endpoint_custom.go
+++ b/endpoint_custom.go
@@ -16,7 +16,7 @@ type endpointCustom struct {
 	io.ReadWriteCloser
 }
 
-func (conf EndpointCustom) init() (Endpoint, error) {
+func (conf EndpointCustom) init(node *Node) (Endpoint, error) {
 	t := &endpointCustom{
 		conf:            conf,
 		ReadWriteCloser: conf.ReadWriteCloser,
diff --git a/endpoint_serial.go b/endpoint_serial.go
index 193e9e50b..84a242bd8 100644
--- a/endpoint_serial.go
+++ b/endpoint_serial.go
@@ -30,7 +30,7 @@ type endpointSerial struct {
 	io.ReadWriteCloser
 }
 
-func (conf EndpointSerial) init() (Endpoint, error) {
+func (conf EndpointSerial) init(node *Node) (Endpoint, error) {
 	// check device existence
 	test, err := serialOpenFunc(conf.Device, conf.Baud)
 	if err != nil {
diff --git a/endpoint_server.go b/endpoint_server.go
index 03e77d71f..65c441a17 100644
--- a/endpoint_server.go
+++ b/endpoint_server.go
@@ -4,6 +4,7 @@ import (
 	"fmt"
 	"io"
 	"net"
+	"time"
 
 	"github.com/aler9/gomavlib/pkg/timednetconn"
 	"github.com/aler9/gomavlib/pkg/udplistener"
@@ -12,7 +13,7 @@ import (
 type endpointServerConf interface {
 	isUDP() bool
 	getAddress() string
-	init() (Endpoint, error)
+	init(*Node) (Endpoint, error)
 }
 
 // EndpointTCPServer sets up a endpoint that works with a TCP server.
@@ -49,22 +50,23 @@ func (conf EndpointUDPServer) getAddress() string {
 }
 
 type endpointServer struct {
-	conf     endpointServerConf
-	listener net.Listener
+	conf         endpointServerConf
+	listener     net.Listener
+	writeTimeout time.Duration
 
 	// in
 	terminate chan struct{}
 }
 
-func (conf EndpointTCPServer) init() (Endpoint, error) {
-	return initEndpointServer(conf)
+func (conf EndpointTCPServer) init(node *Node) (Endpoint, error) {
+	return initEndpointServer(node, conf)
 }
 
-func (conf EndpointUDPServer) init() (Endpoint, error) {
-	return initEndpointServer(conf)
+func (conf EndpointUDPServer) init(node *Node) (Endpoint, error) {
+	return initEndpointServer(node, conf)
 }
 
-func initEndpointServer(conf endpointServerConf) (Endpoint, error) {
+func initEndpointServer(node *Node, conf endpointServerConf) (Endpoint, error) {
 	_, _, err := net.SplitHostPort(conf.getAddress())
 	if err != nil {
 		return nil, fmt.Errorf("invalid address")
@@ -81,9 +83,10 @@ func initEndpointServer(conf endpointServerConf) (Endpoint, error) {
 	}
 
 	t := &endpointServer{
-		conf:      conf,
-		listener:  listener,
-		terminate: make(chan struct{}),
+		conf:         conf,
+		writeTimeout: node.conf.WriteTimeout,
+		listener:     listener,
+		terminate:    make(chan struct{}),
 	}
 	return t, nil
 }
@@ -115,7 +118,7 @@ func (t *endpointServer) accept() (string, io.ReadWriteCloser, error) {
 		return "tcp"
 	}(), nconn.RemoteAddr())
 
-	conn := timednetconn.New(netWriteTimeout, nconn)
+	conn := timednetconn.New(t.writeTimeout, nconn)
 
 	return label, conn, nil
 }
diff --git a/node.go b/node.go
index 74a0e6b9f..8666679a9 100644
--- a/node.go
+++ b/node.go
@@ -22,12 +22,6 @@ import (
 	"github.com/aler9/gomavlib/pkg/message"
 )
 
-const (
-	bufferSize        = 512 // frames cannot go beyond len(header) + 255 + len(check) + len(sig)
-	netConnectTimeout = 10 * time.Second
-	netWriteTimeout   = 10 * time.Second
-)
-
 var errTerminated = fmt.Errorf("terminated")
 
 type writeToReq struct {
@@ -82,6 +76,13 @@ type NodeConf struct {
 	StreamRequestEnable bool
 	// (optional) the requested stream frequency in Hz. It defaults to 4.
 	StreamRequestFrequency int
+
+	// (optional) read timeout.
+	// It defaults to 10 seconds.
+	ReadTimeout time.Duration
+	// (optional) write timeout.
+	// It defaults to 5 seconds.
+	WriteTimeout time.Duration
 }
 
 // Node is a high-level Mavlink encoder and decoder that works with endpoints.
@@ -140,6 +141,13 @@ func NewNode(conf NodeConf) (*Node, error) {
 		return nil, fmt.Errorf("OutKey requires V2 frames")
 	}
 
+	if conf.ReadTimeout == 0 {
+		conf.ReadTimeout = 10 * time.Second
+	}
+	if conf.WriteTimeout == 0 {
+		conf.WriteTimeout = 5 * time.Second
+	}
+
 	dialectRW, err := func() (*dialect.ReadWriter, error) {
 		if conf.Dialect == nil {
 			return nil, nil
@@ -176,7 +184,7 @@ func NewNode(conf NodeConf) (*Node, error) {
 
 	// endpoints
 	for _, tconf := range conf.Endpoints {
-		tp, err := tconf.init()
+		tp, err := tconf.init(n)
 		if err != nil {
 			closeExisting()
 			return nil, err