diff --git a/components/rpc/CommunicationRouter.cpp b/components/rpc/CommunicationRouter.cpp
index cbdbeea..1dab9ec 100644
--- a/components/rpc/CommunicationRouter.cpp
+++ b/components/rpc/CommunicationRouter.cpp
@@ -95,7 +95,9 @@ void CommunicationRouter::update_leader() {
 
     this->m_leader = max;
 
-    mDNSDiscoveryService::set_connected_boards(connected_module_ids);
+    if (this->m_leader == m_module_id) {
+        mDNSDiscoveryService::set_connected_boards(connected_module_ids);
+    }
 
     this->m_last_leader_updated = std::chrono::system_clock::now();
 }
diff --git a/components/rpc/WifiManager.cpp b/components/rpc/WifiManager.cpp
index e87c841..c4f3efb 100644
--- a/components/rpc/WifiManager.cpp
+++ b/components/rpc/WifiManager.cpp
@@ -4,6 +4,7 @@
 #include <esp_event.h>
 #include <freertos/semphr.h>
 #include <cstring>
+#include <mDNSDiscoveryService.h>
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
@@ -188,6 +189,7 @@ void WifiManager::wifi_event_handler(void *event_handler_arg, esp_event_base_t e
     } else if (WIFI_EVENT_STA_CONNECTED == event_id) {
         printf("Connected to wifi in station mode\n");
         that->update_state(wifi_state::connected);
+        mDNSDiscoveryService::setup();
     } else if (WIFI_EVENT_STA_DISCONNECTED == event_id) {
         printf("Station mode shutdown\n");
         xSemaphoreTake(that->m_mutex, portMAX_DELAY);
@@ -204,5 +206,8 @@ void WifiManager::wifi_event_handler(void *event_handler_arg, esp_event_base_t e
         printf("User connected to AP\n");
     } else if (WIFI_EVENT_AP_STADISCONNECTED == event_id) {
         printf("User disconnected from AP\n");
+    } else if (WIFI_EVENT_AP_START == event_id) {
+        mDNSDiscoveryService::setup();
+        printf("AP started\n");
     }
 }
diff --git a/components/rpc/include/mDNSDiscoveryService.h b/components/rpc/include/mDNSDiscoveryService.h
index 9f63e97..5695e80 100644
--- a/components/rpc/include/mDNSDiscoveryService.h
+++ b/components/rpc/include/mDNSDiscoveryService.h
@@ -13,7 +13,7 @@ public:
     ~mDNSDiscoveryService() = delete;
 
     static void setup();
-    static void set_connected_boards(std::vector<int>& boards);
+    static void set_connected_boards(const std::vector<int>& boards);
 };
 
 #endif //DISCOVERYSERVICE_H
diff --git a/components/rpc/mDNSDiscoveryService.cpp b/components/rpc/mDNSDiscoveryService.cpp
index 325bff2..c4247d2 100644
--- a/components/rpc/mDNSDiscoveryService.cpp
+++ b/components/rpc/mDNSDiscoveryService.cpp
@@ -32,7 +32,7 @@ void mDNSDiscoveryService::setup() {
     mdns_service_txt_set("_robotcontrol", "_tcp", service_txt_data, 3);
 }
 
-void mDNSDiscoveryService::set_connected_boards(std::vector<int>& boards) {
+void mDNSDiscoveryService::set_connected_boards(const std::vector<int>& boards) {
     std::stringstream ss;
 
     for (int i = 0; i < boards.size(); i++) {
diff --git a/main/main.cpp b/main/main.cpp
index 445ba8a..89ad2c6 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -16,6 +16,5 @@ extern "C" [[noreturn]] void app_main(void) {
     ESP_LOGI("MEM", "Free PSRAM: %d", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));
 
     ConfigManager::init_config();
-    mDNSDiscoveryService::setup();
     LoopManager::control_loop();
 }