diff --git a/LinActuatorTasks.c b/LinActuatorTasks.c
index 2119425..a093e5a 100644
--- a/LinActuatorTasks.c
+++ b/LinActuatorTasks.c
@@ -555,7 +555,7 @@ static bool setState20(tLinTaskActuator *env, bool isError, uint8_t index) {
                 env->linCommandActuator[j].COM = LIN_ACT_CFR_SUCCESSFUL;
                 env->linCommandActuator[j].isRFR_STA = 1;
 
-                env->linStateActuator[index].Stall_Slave = LIN_STALL_STA_OFF;
+                env->linStateActuator[j].Stall_Slave = LIN_STALL_STA_OFF;
 
                 if (isError) {
                     env->linStateActuator[j].error_connect = 1;
@@ -571,10 +571,12 @@ static bool setState20(tLinTaskActuator *env, bool isError, uint8_t index) {
     return false;
 }
 
+#if (LOG_LIN_ACTUATOR == 1)
 #define IS_LOGGING_ENABLED(numAct) \
     ( (numAct == 1 && LOG_LIN1_ACTUATOR == 1) || \
       (numAct == 2 && LOG_LIN2_ACTUATOR == 1) || \
       (numAct == 3 && LOG_LIN3_ACTUATOR == 1) )
+#endif
 
 static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
 
@@ -743,6 +745,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
                                          env->linCommandActuator[i].MODE)
                     }
 #endif
+                    setState20(env, false, i);
                     continue;
                 }
 
@@ -798,6 +801,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
                                          env->linCommandActuator[i].POS)
                     }
 #endif
+                    setState20(env, false, i);
                     continue;
                 }
 
@@ -856,6 +860,7 @@ static lin_event_id_t Lin_Scheduler(tLinTaskActuator *env, uint8_t numAct) {
                                          env->linCommandActuator[i].Coils_Stop_SET)
                     }
 #endif
+                    setState20(env, false, i);
                     continue;
                 }
 
diff --git a/LinActuatorTasks.h b/LinActuatorTasks.h
index ca2c6e5..26fd890 100644
--- a/LinActuatorTasks.h
+++ b/LinActuatorTasks.h
@@ -12,8 +12,8 @@
 
 #define LOG_LIN_ACTUATOR 1
 #define LOG_LIN1_ACTUATOR 1
-#define LOG_LIN2_ACTUATOR 0
-#define LOG_LIN3_ACTUATOR 0
+#define LOG_LIN2_ACTUATOR 1
+#define LOG_LIN3_ACTUATOR 1
 
 
 typedef struct __attribute__ ((packed)) {