diff --git a/lib/APPConvoyLeader/App.cpp b/lib/APPConvoyLeader/App.cpp
index ca797b2c..2c5c60cb 100644
--- a/lib/APPConvoyLeader/App.cpp
+++ b/lib/APPConvoyLeader/App.cpp
@@ -56,13 +56,12 @@
  * Prototypes
  *****************************************************************************/
 
+static void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_t payloadSize);
+
 /******************************************************************************
  * Local Variables
  *****************************************************************************/
 
-/* Name of Channel to send Position Data to. */
-const char* App::POSITION_CHANNEL = "POSITION";
-
 /******************************************************************************
  * Public Methods
  *****************************************************************************/
@@ -73,7 +72,17 @@ void App::setup()
     Board::getInstance().init();
     m_systemStateMachine.setState(&StartupState::getInstance());
     m_controlInterval.start(DIFFERENTIAL_DRIVE_CONTROL_PERIOD);
-    m_smpServer.createChannel(POSITION_CHANNEL, POSITION_CHANNEL_DLC);
+
+    /* Setup SerialMuxProt Channels. */
+    m_serialMuxProtChannelIdOdometry = m_smpServer.createChannel(ODOMETRY_CHANNEL_NAME, ODOMETRY_CHANNEL_DLC);
+    m_serialMuxProtChannelIdSpeed    = m_smpServer.createChannel(SPEED_CHANNEL_NAME, SPEED_CHANNEL_DLC);
+    m_smpServer.subscribeToChannel(SPEED_SETPOINT_CHANNEL_NAME, App_motorSpeedSetpointsChannelCallback);
+
+    /* Channel sucesfully created? */
+    if ((0U != m_serialMuxProtChannelIdOdometry) && (0U != m_serialMuxProtChannelIdSpeed))
+    {
+        m_reportTimer.start(REPORTING_PERIOD);
+    }
 }
 
 void App::loop()
@@ -95,12 +104,18 @@ void App::loop()
          */
         Odometry::getInstance().process();
 
-        /* Send Position to SerialMuxProt Client */
-        reportPosition();
-
         m_controlInterval.restart();
     }
 
+    if (true == m_reportTimer.isTimeout())
+    {
+        /* Send current data to SerialMuxProt Client */
+        reportOdometry();
+        reportSpeed();
+
+        m_reportTimer.restart();
+    }
+
     m_systemStateMachine.process();
 }
 
@@ -112,14 +127,35 @@ void App::loop()
  * Private Methods
  *****************************************************************************/
 
-void App::reportPosition()
+void App::reportOdometry()
 {
-    ; /* Do nothing. */
+    Odometry&    odometry = Odometry::getInstance();
+    IDisplay&    display  = Board::getInstance().getDisplay();
+    OdometryData payload;
+    int32_t      xPos = 0;
+    int32_t      yPos = 0;
+
+    odometry.getPosition(xPos, yPos);
+    payload.xPos        = xPos;
+    payload.yPos        = yPos;
+    payload.orientation = odometry.getOrientation();
+
+    m_smpServer.sendData(m_serialMuxProtChannelIdOdometry, reinterpret_cast<uint8_t*>(&payload), sizeof(payload));
+
+    display.clear();
+    display.print("Heading:");
+    display.gotoXY(0U, 1U);
+    display.print(payload.orientation);
 }
 
-void App::positionCallback(const uint8_t* payload, const uint8_t payloadSize)
+void App::reportSpeed()
 {
-    ; /* Do nothing. */
+    Speedometer& speedometer = Speedometer::getInstance();
+    SpeedData    payload;
+    payload.left  = speedometer.getLinearSpeedLeft();
+    payload.right = speedometer.getLinearSpeedRight();
+
+    m_smpServer.sendData(m_serialMuxProtChannelIdSpeed, reinterpret_cast<uint8_t*>(&payload), sizeof(payload));
 }
 
 /******************************************************************************
@@ -128,4 +164,19 @@ void App::positionCallback(const uint8_t* payload, const uint8_t payloadSize)
 
 /******************************************************************************
  * Local Functions
- *****************************************************************************/
\ No newline at end of file
+ *****************************************************************************/
+
+/**
+ * Receives motor speed setpoints over SerialMuxProt channel.
+ *
+ * @param[in] payload       Motor speed left/right
+ * @param[in] payloadSize   Size of twice motor speeds
+ */
+void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_t payloadSize)
+{
+    if ((nullptr != payload) && (SPEED_SETPOINT_CHANNEL_DLC == payloadSize))
+    {
+        const SpeedData* motorSpeedData = reinterpret_cast<const SpeedData*>(payload);
+        DifferentialDrive::getInstance().setLinearSpeed(motorSpeedData->left, motorSpeedData->right);
+    }
+}
\ No newline at end of file
diff --git a/lib/APPConvoyLeader/App.h b/lib/APPConvoyLeader/App.h
index 8f8cd5af..bde0a6e7 100644
--- a/lib/APPConvoyLeader/App.h
+++ b/lib/APPConvoyLeader/App.h
@@ -27,7 +27,7 @@
 /**
  * @brief  ConvoyLeader application
  * @author Andreas Merkle <web@blue-andi.de>
- * 
+ *
  * @addtogroup Application
  *
  * @{
@@ -46,6 +46,7 @@
 #include <StateMachine.h>
 #include <SimpleTimer.h>
 #include <SerialMuxProtServer.hpp>
+#include "SerialMuxChannels.h"
 #include <Arduino.h>
 
 /******************************************************************************
@@ -60,13 +61,15 @@
 class App
 {
 public:
-
     /**
      * Construct the convoy leader application.
      */
     App() :
+        m_serialMuxProtChannelIdOdometry(0U),
+        m_serialMuxProtChannelIdSpeed(0U),
         m_systemStateMachine(),
         m_controlInterval(),
+        m_reportTimer(),
         m_smpServer(Serial)
     {
     }
@@ -89,46 +92,51 @@ class App
     void loop();
 
 private:
-
     /** Differential drive control period in ms. */
     static const uint32_t DIFFERENTIAL_DRIVE_CONTROL_PERIOD = 5U;
 
-    /** Name of Channel to send Position Data to. */
-    static const char* POSITION_CHANNEL;
-
-    /** DLC of Position Channel */
-    static const uint8_t POSITION_CHANNEL_DLC = 8U;
+    /** Current data reporting period in ms. */
+    static const uint32_t REPORTING_PERIOD = 50U;
 
     /** Baudrate for Serial Communication */
     static const uint32_t SERIAL_BAUDRATE = 115200U;
 
+    /** SerialMuxProt Channel id for sending the current odometry. */
+    uint8_t m_serialMuxProtChannelIdOdometry;
+
+    /** SerialMuxProt Channel id for sending the current speed. */
+    uint8_t m_serialMuxProtChannelIdSpeed;
+
     /** The system state machine. */
     StateMachine m_systemStateMachine;
 
     /** Timer used for differential drive control processing. */
     SimpleTimer m_controlInterval;
 
+    /** Timer for reporting current data through SerialMuxProt. */
+    SimpleTimer m_reportTimer;
+
     /**
      * SerialMuxProt Server Instance
      *
-     * @tparam tMaxChannels set to 10, as App does not require
-     * more channels for external communication.
+     * @tparam tMaxChannels set to MAX_CHANNELS, defined in SerialMuxChannels.h.
      */
-    SerialMuxProtServer<10U> m_smpServer;
+    SerialMuxProtServer<MAX_CHANNELS> m_smpServer;
 
     /**
-     * Report the current position of the robot using the Odometry data.
+     * Report the current position and heading of the robot using the Odometry data.
      * Sends data through the SerialMuxProtServer.
      */
-    void reportPosition();
+    void reportOdometry();
 
     /**
-     * Callback for incoming data from the Position Channel.
-     * @param[in] payload Byte buffer containing incomming data.
-     * @param[in] payloadSize Number of bytes received.
+     * Report the current motor speeds of the robot using the Speedometer data.
+     * Sends data through the SerialMuxProtServer.
      */
-    static void positionCallback(const uint8_t* payload, const uint8_t payloadSize);
+    void reportSpeed();
 
+private:
+    /* An instance shall not be copied or assigned. */
     App(const App& app);
     App& operator=(const App& app);
 };