diff --git a/package.json b/package.json
index e53b791..4bc6c2b 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
     "name": "vda-5050-lib",
-    "version": "1.4.0",
+    "version": "1.4.1",
     "description": "Universal VDA 5050 library for Node.js and browsers",
     "homepage": "https://github.com/coatyio/vda-5050-lib.js",
     "repository": {
@@ -102,4 +102,4 @@
     "engines": {
         "node": ">=11.0.0"
     }
-}
+}
\ No newline at end of file
diff --git a/src/client/agv-client.ts b/src/client/agv-client.ts
index e9488fe..93a5fd2 100644
--- a/src/client/agv-client.ts
+++ b/src/client/agv-client.ts
@@ -168,11 +168,7 @@ export class AgvClient extends Client {
      * connection state.
      */
     protected async onStarted() {
-        await this.publish(
-            Topic.Connection,
-            { connectionState: ConnectionState.Online },
-            { retainMessage: true },
-        );
+        await this.publishConnectionState(ConnectionState.Online);
     }
 
     /**
@@ -180,11 +176,14 @@ export class AgvClient extends Client {
      * for offline connection state.
      */
     protected async onStopping() {
-        await this.publish(
+        await this.publishConnectionState(ConnectionState.Offline);
+    }
+
+    protected publishConnectionState(connectionState: ConnectionState) {
+        return this.publish(
             Topic.Connection,
-            { connectionState: ConnectionState.Offline },
+            { connectionState: connectionState },
             { retainMessage: true },
         );
     }
-
 }
diff --git a/src/controller/agv-controller.ts b/src/controller/agv-controller.ts
index 808b614..d4933a2 100644
--- a/src/controller/agv-controller.ts
+++ b/src/controller/agv-controller.ts
@@ -10,6 +10,7 @@ import {
     BatteryState,
     BlockingType,
     ClientOptions,
+    ConnectionState,
     Edge,
     EdgeState,
     Error,
@@ -1172,10 +1173,17 @@ export class AgvController extends AgvClient {
         await this.subscribe(Topic.Order, order => this._processOrder(order));
         await this.subscribe(Topic.InstantActions, actions => this._processInstantActions(actions));
 
-        // Ensure State is reported immediately once after client is online again.
-        this.registerConnectionStateChange((currentState, prevState) => {
-            if (currentState === "online" && prevState !== "online") {
-                this._publishCurrentState();
+        // Ensure State and Connection are reported once immediately after client is online again.
+        this.registerConnectionStateChange((connectionState, previousConnectionState) => {
+            // this is not called on the initial connection because it is registered after we connect.
+            if (connectionState !== previousConnectionState) {
+                this.debug(`connection state changed: ${previousConnectionState} -> ${connectionState}`);
+                if (connectionState === "online") {
+                    // only called on reconnect
+                    this.debug("Connection online again.");
+                    this.publishConnectionState(ConnectionState.Online);
+                    this._publishCurrentState();
+                }
             }
         });