From b7f7defd85435e2857bbc8aa52f700d53c879c5d Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 24 May 2015 20:19:56 +0300
Subject: [PATCH] Raft implementation fix

---
 .../dynamic_node_id_server/distributed/cluster_manager.hpp      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
index 50a5c5cefb..6e0a8e038c 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
@@ -91,7 +91,7 @@ private:
 
     void addServer(NodeID node_id)
     {
-        UAVCAN_ASSERT((num_known_servers_ + 1) < (MaxClusterSize - 2));
+        UAVCAN_ASSERT((num_known_servers_ + 1) < MaxClusterSize);
         if (!isKnownServer(node_id) && node_id.isUnicast())
         {
             tracer_.onEvent(TraceRaftNewServerDiscovered, node_id.get());