diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 1d7c68b0a7..657e7f62b2 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -312,9 +312,15 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
     node_status_msg.sub_mode = 0;
 
     // Spin node for device discovery
-    for (uint8_t i = 0; i < 5; i++) {
-        send_node_status();
-        canard_iface.process(1000);
+    uint32_t start_loop_ms = AP_HAL::millis();
+    uint32_t last_send_ms = 0;
+    while (AP_HAL::millis() - start_loop_ms < 5000) {
+        uint32_t now = AP_HAL::millis();
+        if (now - last_send_ms >= 1000) {
+            send_node_status();
+            last_send_ms = now;
+        }
+        canard_iface.process(50);
     }
 
     hal.util->snprintf(_thread_name, sizeof(_thread_name), "dronecan_%u", driver_index);