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 df43c1e41d..b68a7005d6 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
@@ -154,7 +154,7 @@ class AllocationRequestManager
         }
 
         const uint8_t expected_stage = getExpectedStage();
-        if (request_stage == InvalidStage)
+        if (expected_stage == InvalidStage)
         {
             UAVCAN_ASSERT(0);
             return;