Ondrej Zajicek:
I think that if there is no explicit 'requestor' for BFD session (like
static protocol on client), you have to explicitly add neighbors
in BFD protocol on gateways:

protocol bfd {
        interface "vlan*" {
                passive;
        };
        neighbor 192.168.1.3;
}

Unfortunately, this doesn't change the outcome me not getting BFD to work at all. There's multiple ways I tried making it work, but this is the current config:

# explicit neighbor config on gateway
protocol bfd {
        interface "vlan*" {
        };
        neighbor 192.168.1.6;
        debug all;
}

# explicit neighbor config on client
protocol bfd {
        interface "vlan*" {
        };
        neighbor 192.168.1.1;
        debug all;
}


# birdc sh bfd session
BIRD 1.6.0 ready.
bfd1:
IP address Interface State Since Interval Timeout
192.168.1.6               vlan11     Down       01:58:34      1.000    0.000

# birdc sh bfd sess
BIRD 1.6.0 ready.
bfd1:
IP address Interface State Since Interval Timeout
192.168.1.1               vlan11     Down       01:44:06      1.000    0.000

In can see in a tcpdump that both are sending "Down" messages back and forth:

tcpdump: verbose output suppressed, use -v or -vv for full protocol decode
listening on vlan11, link-type EN10MB (Ethernet), capture size 65535 bytes
02:35:17.378336 IP 192.168.1.1.15324 > 192.168.1.6.3784: BFDv1, Control, State Down, Flags: [none], length: 24 02:35:17.529751 IP 192.168.1.6.56135 > 192.168.1.1.3784: BFDv1, Control, State Down, Flags: [none], length: 24

,-- This is what the logs say on 192.168.1.1:
2016-10-31 02:38:04 -0600 <TRACE> bfd1: Sending CTL to 192.168.1.6 [Down]
2016-10-31 02:38:04 -0600 <TRACE> bfd1: Sending CTL to 192.168.1.6 [Down]
`--

,-- This is what the logs say on 192.168.1.6:
2016-10-31 02:39:29 <TRACE> bfd1: Sending CTL to 192.168.1.1 [Down]
2016-10-31 02:39:29 <TRACE> bfd1: Sending CTL to 192.168.1.1 [Down]
`--

On both nodes:

birdc sh proto | grep bfd:
bfd1     BFD      master   up     2016-10-26

birdc sh proto | grep bfd:
bfd1     BFD      master   up     01:44:05

Thanks,
J.

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