diff --git a/can/can_client.c b/can/can_client.c
index 5ac8bbc..09ec94e 100755
--- a/can/can_client.c
+++ b/can/can_client.c
@@ -140,7 +140,6 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_FORWARD)
         {
-            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_FORWARD;
             // motor is switched to forward -> set min. power
             Can_SetMotorPower(iMotorIndex, 1);
@@ -152,7 +151,6 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_REVERSE)
         {
-            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_REVERSE;
             // motor is switched to reverse -> set min. power
             Can_SetMotorPower(iMotorIndex, 1);
@@ -164,7 +162,6 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_NEUTRAL)
         {
-            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
         }
         // motor is switch to neutral -> set power to 0
@@ -172,6 +169,7 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
         WriteOutputPin(GPIO_LED_MOTRUN, LOW);
         mylog(LOG_INFO, "CAN: Motor[%d]: Set gear neutral.", iMotorIndex);
     } 
+    MqttClient_Publish_MotorGear(iMotorIndex, iGear);
 }
 
 
diff --git a/mqtt/mqtt_client.c b/mqtt/mqtt_client.c
index 0493af8..4b6163b 100755
--- a/mqtt/mqtt_client.c
+++ b/mqtt/mqtt_client.c
@@ -8,30 +8,30 @@
 #include "main.h"
 #include <mqtt/mqtt_client.h>
 #include <can/can_client.h>
+#include <settings/settings.h>
 #include <string.h>
 
 #include <mosquitto.h>
 
 
+// Topics to subscribe
+const char* mqtt_topic_motor_gear_request = "Pool/Motor_Gear_Request";
+const char* mqtt_topic_motor_power_request = "Pool/Motor_Power_Request";
+
+// Topics to publish
 const char* mqtt_topic_status_cyclecounter = "Pool/Status/CycleCounter";
-
 const char* mqtt_topic_motor1_gear = "Pool/Motor1/Gear";
-int iMqttMotor1Gear = 0;
 const char* mqtt_topic_motor1_power = "Pool/Motor1/Power";
-int iMqttMotor1Power = 0;
 const char* mqtt_topic_motor2_gear = "Pool/Motor2/Gear";
-int iMqttMotor2Gear = 0;
 const char* mqtt_topic_motor2_power = "Pool/Motor2/Power";
-int iMqttMotor2Power = 0;
-
 const char* mqtt_topic_motor1_switchstate = "Pool/Motor1/SwitchState";
-unsigned char nMqttMotor1SwitchState = 0;
+unsigned char nMotor1SwitchState = 255;
 const char* mqtt_topic_motor2_switchstate = "Pool/Motor1/SwitchState";
-unsigned char nMqttMotor2SwitchState = 0;
+unsigned char nMotor2SwitchState = 255;
 const char* mqtt_topic_motor1_actualpowerw = "Pool/Motor1/ActualPowerW";
-int iMqttMotor1ActualPowerW = 0;
+int iMqttMotor1ActualPowerW = -1;
 const char* mqtt_topic_motor2_actualpowerw = "Pool/Motor1/ActualPowerW";
-int iMqttMotor2ActualPowerW = 0;
+int iMqttMotor2ActualPowerW = -1;
 
 const char* mqtt_broker_addr = "127.0.0.1";
 const int mqtt_broker_port = 1883;
@@ -50,60 +50,46 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
     memcpy(topic_value, message->payload, message->payloadlen);
     topic_value[message->payloadlen] = '\0';
     
-    if (strcmp(message->topic, mqtt_topic_motor1_gear) == 0)
+    if (strcmp(message->topic, mqtt_topic_motor_gear_request) == 0)
     {
-        int val = 9999;
+        int val = 123456789;
         if (sscanf(topic_value, "%d", &val))
         {
-            mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor1_gear: %d", val);
-            iMqttMotor1Gear = val;
-            Can_SetMotorGear(0, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor_gear_request: %d", val);
+            if (val == 123456789)
+            {
+                val = 0;
+            }
+
+            for (int i=0; i<settings.iMotorCount; i++)
+            {
+                Can_SetMotorGear(i, val);
+            }
         }
         else
         {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_gear: %s", topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor_gear_request: %s", topic_value);
         }
     }
-    else if (strcmp(message->topic, mqtt_topic_motor1_power) == 0)
+    else if (strcmp(message->topic, mqtt_topic_motor_power_request) == 0)
     {
-        int val = 9999;
+        int val = 123456789;
         if (sscanf(topic_value, "%d", &val))
         {
-            mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor1_power: %d", val);
-            iMqttMotor1Power = val;
-            Can_SetMotorPower(0, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor_power_request: %d", val);
+            if (val == 123456789)
+            {
+                val = 0;
+            }
+            
+            for (int i=0; i<settings.iMotorCount; i++)
+            {
+                Can_SetMotorPower(i, val);
+            }
         }
         else
         {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_power: %s", topic_value);
-        }
-    }
-    else if (strcmp(message->topic, mqtt_topic_motor2_gear) == 0)
-    {
-        int val = 9999;
-        if (sscanf(topic_value, "%d", &val))
-        {
-            mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor2_gear: %d", val);
-            iMqttMotor2Gear = val;
-            Can_SetMotorGear(1, val);
-        }
-        else
-        {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_gear: %s", topic_value);
-        }
-    }
-    else if (strcmp(message->topic, mqtt_topic_motor2_power) == 0)
-    {
-        int val = 9999;
-        if (sscanf(topic_value, "%d", &val))
-        {
-            mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor2_power: %d", val);
-            iMqttMotor2Power = val;
-            Can_SetMotorPower(1, val);
-        }
-        else
-        {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_power: %s", topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor_gear_request: %s", topic_value);
         }
     }
     else
@@ -114,6 +100,38 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
     free(topic_value);
 }
 
+/// @brief callback function after connection
+void my_connect_callback(struct mosquitto *mosq, void *obj, int rc)
+{
+    if (rc == 0)
+    {
+        if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor_gear_request, 0) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor_gear_request) failed!");
+        }
+        if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor_power_request, 0) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor_power_request) failed!");
+        }
+
+        char message[10];
+        snprintf(message, sizeof(message), "0");
+        if (mosquitto_publish(mosq, NULL, mqtt_topic_motor_gear_request, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor_gear_request) failed!");
+        }
+        if (mosquitto_publish(mosq, NULL, mqtt_topic_motor_power_request, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor_power_request) failed!");
+        }
+
+        for (int i=0; i<settings.iMotorCount; i++)
+        {
+            MqttClient_Publish_MotorSwitchState(i, 0);
+            MqttClient_Publish_MotorActualPowerW(i, 0);
+        }
+    }
+}
 
 /// @brief connect to mqtt broker
 /// @return 
@@ -138,6 +156,7 @@ int MqttClient_Connect()
 
     // Define a function which will be called by libmosquitto client every time when there is a new MQTT message
     mosquitto_message_callback_set(mosq, my_message_callback);
+    mosquitto_connect_callback_set(mosq, my_connect_callback);
 
     // Connect to MQTT broker
     if (mosquitto_connect(mosq, mqtt_broker_addr, mqtt_broker_port, 60) != MOSQ_ERR_SUCCESS)
@@ -155,76 +174,6 @@ int MqttClient_Connect()
         sleep(500);
     }
 
-    // publish all topics we want to subscribe
-    char message[10];
-    snprintf(message, sizeof(message), "0");
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor1_gear) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 10;
-    }
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor1_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 11;
-    }
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor2_gear) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 12;
-        MqttClient_Close();
-    }
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor2_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 13;
-    }
-
-    // subscribe all needed topics
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_gear, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor1_gear) failed!");
-        iHadConnectError++;
-        return 20;
-    }
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_power, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor1_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 21;
-    }
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor2_gear, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor2_gear) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 22;
-    }
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor2_power, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor2_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 23;
-    }
-
-    nMqttMotor1SwitchState = 255;
-    MqttClient_Publish_MotorSwitchState(0, 0);
-    nMqttMotor2SwitchState = 255;
-    MqttClient_Publish_MotorSwitchState(1, 0);
-    iMqttMotor1ActualPowerW = -1;
-    MqttClient_Publish_MotorActualPowerW(0, 0);
-    iMqttMotor2ActualPowerW = -1;
-    MqttClient_Publish_MotorActualPowerW(1, 0);
 
     mylog(LOG_INFO, "MQTT: Connected successfull after %d errors!", iHadConnectError);
     return 0;
@@ -266,23 +215,15 @@ void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear)
 {
     if (iMotorIndex == 0)
     {
-        if (iGear != iMqttMotor1Gear)
-        {
-            iMqttMotor1Gear = iGear;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iGear);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iGear);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), message, 0, false);
     }
     else if (iMotorIndex == 1)
     {
-        if (iGear != iMqttMotor2Gear)
-        {
-            iMqttMotor2Gear = iGear;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iGear);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iGear);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), message, 0, false);
     }
 }
 
@@ -294,23 +235,15 @@ void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower)
 {
     if (iMotorIndex == 0)
     {
-        if (iPower != iMqttMotor1Power)
-        {
-            iMqttMotor1Power = iPower;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iPower);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iPower);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), message, 0, false);
     }
     else if (iMotorIndex == 1)
     {
-        if (iPower != iMqttMotor2Power)
-        {
-            iMqttMotor2Power = iPower;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iPower);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iPower);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), message, 0, false);
     }
 }
 
@@ -322,9 +255,9 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
 {
     if (iMotorIndex == 0)
     {
-        if (nSwitchState != nMqttMotor1SwitchState)
+        if (nSwitchState != nMotor1SwitchState)
         {
-            nMqttMotor1SwitchState = nSwitchState;
+            nMotor1SwitchState = nSwitchState;
             char message[100];
             snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor1_switchstate, strlen(message), message, 0, false);
@@ -332,9 +265,9 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
     }
     else if (iMotorIndex == 1)
     {
-        if (nSwitchState != nMqttMotor2SwitchState)
+        if (nSwitchState != nMotor2SwitchState)
         {
-            nMqttMotor2SwitchState = nSwitchState;
+            nMotor2SwitchState = nSwitchState;
             char message[100];
             snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_switchstate, strlen(message), message, 0, false);