diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
index 30bd5c368d..df43c1e41d 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
@@ -244,7 +244,7 @@ public:
         {
             return res;
         }
-        allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(1000 /* TODO FIXME ALLOCATION RANDOMIZATION */));
+        allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(Allocation::FOLLOWUP_TIMEOUT_MS));
 
         res = allocation_sub_.start(AllocationCallback(this, &AllocationRequestManager::handleAllocation));
         if (res < 0)