diff --git a/gauge.py b/gauge.py
index b24808a..f382b78 100644
--- a/gauge.py
+++ b/gauge.py
@@ -756,6 +756,10 @@ def connect_mqtt():
 
 _mqtt_check_interval_ms = 30000
 _last_mqtt_check = 0
+_discovery_phases = ()
+_discovery_phase_idx = 0
+_last_discovery_ms = 0
+_DISCOVERY_INTERVAL_MS = 500
 
 
 def check_mqtt():
@@ -791,7 +795,7 @@ def check_mqtt():
             client_ref.connect()
             _mqtt_connected = True
             info("MQTT reconnected!")
-            publish_discovery(client_ref)
+            schedule_discovery()
             _subscribe_all(client_ref)
             publish_online(client_ref)
             publish_state(client_ref)
@@ -1020,6 +1024,47 @@ def publish_discovery(client):
     _publish_backlight_status_discovery(client, _dev_ref)
 
 
+def schedule_discovery():
+    global _discovery_phases, _discovery_phase_idx, _last_discovery_ms
+    _dev_ref = _DEVICE
+    _discovery_phases = (
+        lambda client: _clear_legacy_discovery(client),
+        lambda client: _publish_gauge_discovery(client, _dev_ref),
+        lambda client: _publish_speed_discovery(client, _dev_ref),
+        lambda client: _publish_acceleration_discovery(client, _dev_ref),
+        lambda client: _publish_indicator_led_discovery(client, _dev_ref),
+        lambda client: _publish_backlight_status_discovery(client, _dev_ref),
+    )
+    _discovery_phase_idx = 0
+    _last_discovery_ms = 0
+
+
+def _clear_legacy_discovery(client):
+    for i in range(num_gauges):
+        for old_t in [
+            f"homeassistant/switch/{MQTT_CLIENT_ID}_g{i}_red/config",
+            f"homeassistant/switch/{MQTT_CLIENT_ID}_g{i}_green/config",
+            f"homeassistant/switch/{MQTT_CLIENT_ID}_g{i}_status_red/config",
+            f"homeassistant/switch/{MQTT_CLIENT_ID}_g{i}_status_green/config",
+        ]:
+            client.publish(old_t, b"", retain=True)
+        _discovery_pause(client, count=2, delay_ms=15)
+
+
+def service_discovery():
+    global _discovery_phase_idx, _last_discovery_ms
+    if client_ref is None or _discovery_phase_idx >= len(_discovery_phases):
+        return
+
+    now = utime.ticks_ms()
+    if _last_discovery_ms and utime.ticks_diff(now, _last_discovery_ms) < _DISCOVERY_INTERVAL_MS:
+        return
+
+    _discovery_phases[_discovery_phase_idx](client_ref)
+    _discovery_phase_idx += 1
+    _last_discovery_ms = utime.ticks_ms()
+
+
 def publish_online(client):
     for i in range(num_gauges):
         client.publish(gauge_topics[i]["status"], b"online", retain=True)
@@ -1052,11 +1097,9 @@ def main():
     connect_wifi(WIFI_SSID, WIFI_PASSWORD)
 
     connect_mqtt()
-
-    info("Publishing discovery...")
-    publish_discovery(client_ref)
-
     _subscribe_all(client_ref)
+    schedule_discovery()
+
     apply_motion_defaults()
     info("Draining initial retained messages...")
     for _ in range(50):
@@ -1099,6 +1142,7 @@ def main():
                 continue
 
             client_ref.check_msg()
+            service_discovery()
             arduino_recv()
             _flush_backlight_state()