diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
index d8042074a2..ef7f901749 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
@@ -267,11 +267,6 @@ class NodeDiscoverer : TimerBase
             return;
         }
 
-        if (!handler_.canDiscoverNewNodes())
-        {
-            return;     // Timer must continue to run in order to not stuck when it unlocks
-        }
-
         const NodeID node_id = pickNextNodeToQueryAndCleanupMap();
         if (!node_id.isUnicast())
         {
@@ -280,6 +275,11 @@ class NodeDiscoverer : TimerBase
             return;
         }
 
+        if (!handler_.canDiscoverNewNodes())
+        {
+            return;     // Timer must continue to run in order to not stuck when it unlocks
+        }
+
         trace(TraceDiscoveryGetNodeInfoRequest, node_id.get());
 
         UAVCAN_TRACE("dynamic_node_id_server::NodeDiscoverer", "Requesting GetNodeInfo from node %d",