diff --git a/src/boards/Payload/CanHandler/CanHandler.cpp b/src/boards/Payload/CanHandler/CanHandler.cpp
index 14eb457bda3976651dcedb1081f9a440d56906a2..2fad71b8e1fcb4398320bfaa7ed4fd828fd87e1c 100644
--- a/src/boards/Payload/CanHandler/CanHandler.cpp
+++ b/src/boards/Payload/CanHandler/CanHandler.cpp
@@ -157,7 +157,7 @@ bool CanHandler::start()
                 static_cast<uint8_t>(SensorId::PITOT_DYNAMIC_PRESSURE),
                 dynamicPressure);
         },
-        config::Pitot::PERIOD);
+        config::Pitot::SEND_RATE);
 
     if (pitotTask == 0)
     {
@@ -185,6 +185,14 @@ void CanHandler::sendEvent(EventId event)
                            static_cast<uint8_t>(Board::PAYLOAD),
                            static_cast<uint8_t>(Board::BROADCAST),
                            static_cast<uint8_t>(event));
+
+    auto data = CanEvent{
+        .timestamp = TimestampTimer::getTimestamp(),
+        .source    = static_cast<uint8_t>(Board::PAYLOAD),
+        .target    = static_cast<uint8_t>(Board::BROADCAST),
+        .event     = static_cast<uint8_t>(event),
+    };
+    Logger::getInstance().log(data);
 }
 
 void CanHandler::sendServoOpenCommand(ServosList servo, uint32_t openingTime)
@@ -233,7 +241,15 @@ void CanHandler::handleMessage(const CanMessage& msg)
 
 void CanHandler::handleEvent(const Boardcore::Canbus::CanMessage& msg)
 {
-    auto event = canEventToEvent(msg.getSecondaryType());
+    auto canEvent = CanEvent{
+        .timestamp = TimestampTimer::getTimestamp(),
+        .source    = msg.getSource(),
+        .target    = msg.getDestination(),
+        .event     = msg.getSecondaryType(),
+    };
+    Logger::getInstance().log(canEvent);
+
+    auto event = canEventToEvent(canEvent.event);
     if (event == LAST_EVENT)
     {
         return;
diff --git a/src/boards/Payload/Configs/CanHandlerConfig.h b/src/boards/Payload/Configs/CanHandlerConfig.h
index 6170dbfe72917b04b112db3bb76487ec54615497..05290120f9838a683276e58d554fad6d85edeb31 100644
--- a/src/boards/Payload/Configs/CanHandlerConfig.h
+++ b/src/boards/Payload/Configs/CanHandlerConfig.h
@@ -22,6 +22,10 @@
 
 #pragma once
 
+#include <units/Frequency.h>
+
+#include <chrono>
+
 namespace Payload
 {
 namespace Config
@@ -30,6 +34,7 @@ namespace CanHandler
 {
 
 /* linter-off */ using namespace std::chrono_literals;
+/* linter-off */ using namespace Boardcore::Units::Frequency;
 
 namespace Status
 {
@@ -40,7 +45,7 @@ constexpr auto TIMEOUT = 1500ms;
 
 namespace Pitot
 {
-constexpr auto PERIOD = 50ms;
+constexpr auto SEND_RATE = 20_hz;
 }
 
 }  // namespace CanHandler