Can you please run the following :
show ap debug counters | include <ap name> and if the APs its been bootstrapping a lot
show ap debug system-profile ap-name <ap name> will give you more detail of what's going on if it is missing any heartbeats to the controller
show log system all | include <device mac>
Is there been any changes to the network recently ? Upgrade or are you aware if there's issues with ISP connection where the RAP is located ?