diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/centralized/storage.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/centralized/storage.hpp
index 99e04eb183..c03957d14f 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/centralized/storage.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/centralized/storage.hpp
@@ -25,7 +25,7 @@ class Storage
 public:
     typedef uint8_t Size;
 
-    enum { Capacity = NodeID::Max - 1 };
+    enum { Capacity = NodeID::Max };
 
     struct Entry
     {
diff --git a/libuavcan/test/protocol/dynamic_node_id_server/centralized/storage.cpp b/libuavcan/test/protocol/dynamic_node_id_server/centralized/storage.cpp
index 615dc73f11..51ada6d104 100644
--- a/libuavcan/test/protocol/dynamic_node_id_server/centralized/storage.cpp
+++ b/libuavcan/test/protocol/dynamic_node_id_server/centralized/storage.cpp
@@ -164,11 +164,11 @@ TEST(dynamic_node_id_server_centralized_Storage, Basic)
     {
         ASSERT_LE(0, stor.add(entry.node_id, entry.unique_id));
 
-        entry.node_id = uint8_t(entry.node_id.get() + 1U);
+        entry.node_id = uint8_t(uavcan::min(entry.node_id.get() + 1U, 127U));
         entry.unique_id[0] = uint8_t(entry.unique_id[0] + 1U);
     }
 
-    ASSERT_GT(0, stor.add(entry.node_id, entry.unique_id));  // Failing because full
+    ASSERT_GT(0, stor.add(123, entry.unique_id));  // Failing because full
 
     storage.print();
 }