diff --git a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
index 4638ac75fb..98b0ef0106 100644
--- a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
@@ -952,8 +952,6 @@ void RaftCore::updateCandidate()
                 trace(TraceError, res);
             }
         }
-
-        UAVCAN_ASSERT(res >= 0);
     }
 }
 
@@ -1374,7 +1372,7 @@ void RaftCore::handleRequestVoteResponse(const ServiceCallResult<RequestVote>& r
 
 void RaftCore::handleTimerEvent(const TimerEvent&)
 {
-    if (cluster_.hadDiscoveryActivity())
+    if (cluster_.hadDiscoveryActivity() && isLeader())
     {
         setActiveMode(true);
     }
@@ -1448,6 +1446,7 @@ int RaftCore::init(uint8_t cluster_size)
     {
         return res;
     }
+    append_entries_client_.setCallback(AppendEntriesResponseCallback(this, &RaftCore::handleAppendEntriesResponse));
     append_entries_client_.setRequestTimeout(update_interval_);
 
     for (uint8_t i = 0; i < NumRequestVoteClients; i++)
@@ -1457,6 +1456,7 @@ int RaftCore::init(uint8_t cluster_size)
         {
             return res;
         }
+        request_vote_clients_[i]->setCallback(RequestVoteResponseCallback(this, &RaftCore::handleRequestVoteResponse));
         request_vote_clients_[i]->setRequestTimeout(update_interval_);
     }
 
diff --git a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
index e852f488d6..55a74f93f4 100644
--- a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
@@ -55,10 +55,31 @@ public:
 
 class EventTracer : public uavcan::IDynamicNodeIDAllocationServerEventTracer
 {
+    const std::string id_;
+
     virtual void onEvent(uavcan::uint16_t event_code, uavcan::int64_t event_argument)
     {
-        std::cout << "Event\t" << event_code << "\t" << event_argument << std::endl;
+        std::cout << "EVENT [" << id_ << "]\t" << event_code << "\t" << event_argument << std::endl;
     }
+
+public:
+    EventTracer() { }
+
+    EventTracer(const std::string& id) : id_(id) { }
+};
+
+
+class CommitHandler : public uavcan::dynamic_node_id_server_impl::ILeaderLogCommitHandler
+{
+    const std::string id_;
+
+    virtual void onEntryCommitted(const uavcan::protocol::dynamic_node_id::server::Entry& entry)
+    {
+        std::cout << "ENTRY COMMITTED [" << id_ << "]\n" << entry << std::endl;
+    }
+
+public:
+    CommitHandler(const std::string& id) : id_(id) { }
 };
 
 
@@ -817,6 +838,42 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
 }
 
 
+TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
+{
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::AppendEntries> _reg2;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::RequestVote> _reg3;
+
+    EventTracer tracer_a("a");
+    EventTracer tracer_b("b");
+    StorageBackend storage_a;
+    StorageBackend storage_b;
+    CommitHandler commit_handler_a("a");
+    CommitHandler commit_handler_b("b");
+
+    InterlinkedTestNodesWithSysClock nodes;
+
+    uavcan::dynamic_node_id_server_impl::RaftCore raft_a(nodes.a, storage_a, tracer_a, commit_handler_a);
+    uavcan::dynamic_node_id_server_impl::RaftCore raft_b(nodes.b, storage_b, tracer_b, commit_handler_b);
+
+    /*
+     * Initialization
+     */
+    ASSERT_LE(0, raft_a.init(2));
+    ASSERT_LE(0, raft_b.init(2));
+
+    /*
+     * Running and trying not to fall
+     */
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(5000));
+
+    // The one with lower node ID must become a leader
+    ASSERT_TRUE(raft_a.isLeader());
+    ASSERT_FALSE(raft_b.isLeader());
+}
+
+
 TEST(DynamicNodeIDAllocationServer, ObjectSizes)
 {
     std::cout << "Log:             " << sizeof(uavcan::dynamic_node_id_server_impl::Log) << std::endl;