diff --git a/modules/uavcan/libcanard b/modules/uavcan/libcanard
index 2da1c49b..e6ded1b0 160000
--- a/modules/uavcan/libcanard
+++ b/modules/uavcan/libcanard
@@ -1 +1 @@
-Subproject commit 2da1c49b50106b2820a4efaa1123ba6d040de357
+Subproject commit e6ded1b05f48c5413bce677dc74c57a2b76ab7bf
diff --git a/modules/uavcan/uavcan.c b/modules/uavcan/uavcan.c
index 37e1f7f7..fd53edc8 100644
--- a/modules/uavcan/uavcan.c
+++ b/modules/uavcan/uavcan.c
@@ -157,6 +157,17 @@ static void uavcan_init(uint8_t can_dev_idx) {
     chSysHalt(NULL);
 }
 
+void uavcan_forget_nodeid(uint8_t uavcan_idx) {
+    struct uavcan_instance_s* uavcan_instance;
+    if (!(uavcan_instance = uavcan_get_instance(uavcan_idx))) { goto fail; }
+    CanardInstance* canard_instance= &uavcan_instance->canard;
+    canardForgetLocalNodeID(canard_instance);
+    return;
+
+fail:
+    chSysHalt(NULL);
+}
+
 static bool uavcan_iterate_instances(struct uavcan_instance_s** instance_ptr) {
     if (!instance_ptr) {
         return false;
diff --git a/modules/uavcan/uavcan.h b/modules/uavcan/uavcan.h
index 2fde3972..ef271dce 100644
--- a/modules/uavcan/uavcan.h
+++ b/modules/uavcan/uavcan.h
@@ -37,6 +37,7 @@ uint8_t uavcan_get_num_instances(void);
 
 uint8_t uavcan_get_node_id(uint8_t uavcan_idx);
 void uavcan_set_node_id(uint8_t uavcan_idx, uint8_t node_id);
+void uavcan_forget_nodeid(uint8_t uavcan_idx);
 
 uint16_t uavcan_get_message_data_type_id(uint8_t uavcan_idx, const struct uavcan_message_descriptor_s* msg_descriptor);
 
diff --git a/modules/uavcan_allocatee/uavcan_allocatee.c b/modules/uavcan_allocatee/uavcan_allocatee.c
index f55438af..9a42bf91 100644
--- a/modules/uavcan_allocatee/uavcan_allocatee.c
+++ b/modules/uavcan_allocatee/uavcan_allocatee.c
@@ -16,6 +16,7 @@ WORKER_THREAD_DECLARE_EXTERN(WT)
 
 struct allocatee_instance_s;
 
+static void allocation_init(void);
 static float getRandomFloat(void);
 static void allocation_message_handler(size_t msg_size, const void* buf, void* ctx);
 static void allocation_start_request_timer(struct allocatee_instance_s* instance);
@@ -28,15 +29,17 @@ struct allocatee_instance_s {
     uint32_t unique_id_offset;
     struct worker_thread_timer_task_s request_transmit_task;
     struct worker_thread_listener_task_s allocation_listener_task;
+    struct allocatee_instance_s* next;
 };
 
+static struct allocatee_instance_s* allocatee_instance_list_head;
 
 RUN_AFTER(UAVCAN_INIT) {
-     for (uint8_t i=0; i<uavcan_get_num_instances(); i++) {
-        if (uavcan_get_node_id(i) != 0) {
-            continue;
-        }
+    allocation_init();
+}
 
+static void allocation_init(void) {
+    for (uint8_t i=0; i<uavcan_get_num_instances(); i++) {
         struct allocatee_instance_s* instance = chCoreAlloc(sizeof(struct allocatee_instance_s));
 
         chDbgCheck(instance != NULL);
@@ -44,12 +47,47 @@ RUN_AFTER(UAVCAN_INIT) {
             continue;
         }
 
-        struct pubsub_topic_s* allocation_topic = uavcan_get_message_topic(i, &uavcan_protocol_dynamic_node_id_Allocation_descriptor);
-
+        memset(instance, 0, sizeof(struct allocatee_instance_s));
         instance->uavcan_idx = i;
         instance->unique_id_offset = 0;
-        worker_thread_add_listener_task(&WT, &instance->allocation_listener_task, allocation_topic, allocation_message_handler, instance);
-        allocation_start_request_timer(instance);
+        LINKED_LIST_APPEND(struct allocatee_instance_s, allocatee_instance_list_head, instance);
+        if (uavcan_get_node_id(i) == 0) {
+            struct pubsub_topic_s* allocation_topic = uavcan_get_message_topic(i, &uavcan_protocol_dynamic_node_id_Allocation_descriptor);
+            worker_thread_add_listener_task(&WT, &instance->allocation_listener_task, allocation_topic, allocation_message_handler, instance);
+            allocation_start_request_timer(instance);
+        }
+    }
+}
+
+static struct allocatee_instance_s* allocation_get_instance(uint8_t idx) {
+    struct allocatee_instance_s* instance = allocatee_instance_list_head;
+    while (instance && idx != 0) {
+        idx--;
+        instance = instance->next;
+    }
+    return instance;
+}
+
+uint8_t allocation_get_num_instances(void) {
+    struct allocatee_instance_s* instance = allocatee_instance_list_head;
+    uint8_t count = 0;
+    while (instance) {
+        count++;
+        instance = instance->next;
+    }
+    return count;
+}
+
+void allocation_forget_nodeid(void) {
+    for (uint8_t allocatee_idx=0; allocatee_idx<allocation_get_num_instances(); allocatee_idx++) {
+        struct allocatee_instance_s* instance = allocation_get_instance(allocatee_idx);
+        uint8_t nodeId_uavcan_instance = uavcan_get_node_id(instance->uavcan_idx);
+        if (nodeId_uavcan_instance != 0) {
+            uavcan_forget_nodeid(instance->uavcan_idx);
+            struct pubsub_topic_s* allocation_topic = uavcan_get_message_topic(instance->uavcan_idx, &uavcan_protocol_dynamic_node_id_Allocation_descriptor);
+            worker_thread_add_listener_task(&WT, &instance->allocation_listener_task, allocation_topic, allocation_message_handler, instance);
+            allocation_start_request_timer(instance);
+        }
     }
 }
 
diff --git a/modules/uavcan_allocatee/uavcan_allocatee.h b/modules/uavcan_allocatee/uavcan_allocatee.h
new file mode 100644
index 00000000..be0eb124
--- /dev/null
+++ b/modules/uavcan_allocatee/uavcan_allocatee.h
@@ -0,0 +1,3 @@
+#pragma once
+
+void allocation_forget_nodeid(void);