A method for receiving a chirp signal at a receiver, the chirp signal communicated over a link from a transmitter, the chirp signal comprising at least one symbol, each symbol comprising a plurality of identical chirps, each chirp encoding a symbol value, the method comprising: determining a measure indicative of error in the received chirp signal; determining the number of coherent integrations and non-coherent integrations to apply per symbol in dependence on the indicated error; for each symbol, coherently and non-coherently integrating the plurality of chirps in accordance with the determined numbers so as to form an integrated symbol; and for each symbol, decoding the symbol value from the integrated symbol.