You are getting these messages because AP doesn't receive an IP address from the DHCP server that's why it's not able to join controller. You can use the below commands to configure static IP address:
debug capwap console cli ==> You need to enter this command before assiging IP address or make any change on AP via CLI
AP1240#lwapp ap ip address 10.1.1.100 255.255.255.0 ==> Cmd to assign static IP address
AP1240#lwapp ap ip default-gateway 10.1.1.1 ==> Cmd to assign default gateway
AP1240#lwapp ap controller ip address 10.1.1.10 ==> Cmd to define IP address of controller
In case you want to convert this AP to autonomous mode, follow the steps mentioned on below link:
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