"Max retransmission count" error connecting Cisco APs to WLC

We have a number of Cisco AIR-CAP1702I-E-K9 APs and a virtual WLC (v8.0.140).  Four of the APs talk to the WLC ok, but the remaining two won't connect with the following error:

Oct  5 15:48:06.000: %CAPWAP-5-DTLSREQSEND: DTLS connection request sent peer_ip: 10.50.50.119 peer_port: 5246
*Oct  5 15:48:35.999: DTLS_CLIENT_ERROR: ../capwap/base_capwap/dtls/base_capwap_dtls_connection_db.c:2214 Max retransmission count reached for Connection 0x7C58280!

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One of them was working previously but had a factory reset; the other is out of the box.  How can we make them connect to the WLC to be managed?
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David HaycoxAsked:
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David HaycoxAuthor Commented:
Hmm... looks like some patience is required.  They connect nevertheless after many minutes.
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Craig BeckCommented:
Just posted in the other question, but yes, it looks like the APs are struggling to talk to the WLC reliably.
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David HaycoxAuthor Commented:
It looks like I just needed some patience; I've got them all connected now and their IPs set to static.  Thanks.
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David HaycoxAuthor Commented:
Different problem now so have asked new question: no wireless output from the APs despite WLAN and groups being set up.  Must be something simple somewhere...?  Thanks.
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David HaycoxAuthor Commented:
Solved problem myself
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