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 ae85348d2f..a16346b9a0 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
@@ -268,6 +268,7 @@ public:
         msg.node_id = allocated_node_id.get();
 
         trace(TraceAllocationResponse, msg.node_id);
+        last_activity_timestamp_ = allocation_pub_.getNode().getMonotonicTime();
 
         return allocation_pub_.broadcast(msg);
     }