diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 036cbed6df..8b42fb1963 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -472,7 +472,7 @@ void AP_Periph_FW::handle_allocation_response(CanardInstance* canard_instance, C
         dronecan.send_next_node_id_allocation_request_at_ms -= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS;
 
         printf("Matching allocation response: %d\n", msg.unique_id.len);
-    } else {
+    } else if (msg.node_id != CANARD_BROADCAST_NODE_ID) { // new ID valid? (if not we will time out and start over)
         // Allocation complete - copying the allocated node ID from the message
         canardSetLocalNodeID(canard_instance, msg.node_id);
         printf("IF%d Node ID allocated: %d\n", dronecan.dna_interface, msg.node_id);