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Issue with Cisco 4402 and 1142 LAPs

I currently have a Cisco 4402, with about 10 APs, all 1142s, connected.  This morning I discovered that several of the APs were not connecting to the controller.  I could ping the APs, so I know it's not a network connectivity issue; I could also access the controller and see the other APs were connected and functioning.

After playing with one of the non functioning APs for a bit and failing to get it to connect I decided to reboot the controller.  After rebooting the controller none of the APs will connect now.  I can log into the controller and it's configuration looks fine.

In looking at the controller statistics I can see all the APs that have joined at some point, after clicking on one of them I can this this:

Feb 24 10:46:55.075 - Received Discovery request and sent response

Last Successful Attempt Time: Feb 24 10:46:55.075

These times were just a few minutes ago.

Just found this in the Message Logs, there are multiple of these for the different APs

*spamReceiveTask: Feb 24 11:00:54.909: %DTLS-3-HANDSHAKE_FAILURE: openssl_dtls.c:631 Failed to complete DTLS handshake with peer 192.168.21.38 for AP e8:ba:70:ee:dc:41

Not sure what to try now, any help would be appreciated, thanks.
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