diff --git a/decoder/command.py b/decoder/command.py
new file mode 100644
index 0000000..4a19df7
--- /dev/null
+++ b/decoder/command.py
@@ -0,0 +1,18 @@
+#!/usr/bin/python
+
+import serial,os,re,sys
+import pygame
+from pygame.locals import *
+import pygame.time
+from cStringIO import StringIO
+
+try:
+	ser = serial.Serial(port='/dev/ttyACM1')
+except:
+	sys.stderr.write('Error: Could not open serial port\n')
+	sys.exit(1)
+
+
+ser.write('\r\n')
+ser.write('command '+str(int(sys.argv[1], 16))+' '+str(int(sys.argv[2], 16))+'\r\n')
+ser.close()
diff --git a/decoder/decoder2.py b/decoder/decoder2.py
index 598ffc4..e02cf64 100644
--- a/decoder/decoder2.py
+++ b/decoder/decoder2.py
@@ -40,8 +40,15 @@ while True:
 		print line.strip()
 		continue
 
+	i += 1
+
+	if int(size) == 0:
+		ser.write('picture\r\n')
+		continue
+
 	imgbuf = ser.read(int(size))
 
+
 	for event in pygame.event.get():
 		if event.type == QUIT:
 			exit(0)
@@ -61,6 +68,11 @@ while True:
 		screen.blit(textsurface,(0,0))
 		pygame.display.flip()
 		pygame.display.update(displaygroup.draw(screen))
+
+		f = open('data/data'+str(i)+'.jpg','wb')
+		f.write(imgbuf)
+		f.close()
+
 	except Exception as e:
 		print str(e)
 		textsurface = myfont.render('Error %s' % (e), False, (255, 100, 100))
@@ -69,7 +81,6 @@ while True:
 		pygame.display.update(displaygroup.draw(screen))
 
 	ser.write('picture\r\n')
-	i += 1
 
 
 
diff --git a/decoder/empty.py b/decoder/empty.py
new file mode 100644
index 0000000..3cdc906
--- /dev/null
+++ b/decoder/empty.py
@@ -0,0 +1,16 @@
+#!/usr/bin/python
+
+import serial,os,re,sys
+import pygame
+from pygame.locals import *
+import pygame.time
+from cStringIO import StringIO
+
+try:
+	ser = serial.Serial(port='/dev/ttyACM1')
+except:
+	sys.stderr.write('Error: Could not open serial port\n')
+	sys.exit(1)
+
+while True:
+	ser.read(1)
diff --git a/tracker/software/config.c b/tracker/software/config.c
index e93e907..069f502 100644
--- a/tracker/software/config.c
+++ b/tracker/software/config.c
@@ -463,7 +463,7 @@ void start_user_modules(void)
 	config[4].ssdv_conf.ram_size = sizeof(ssdv_buffer);		// Buffer size
 	config[4].ssdv_conf.res = RES_VGA;						// Resolution VGA
 	config[4].ssdv_conf.quality = 4;						// Image quality
-	//start_image_thread(&config[4]);
+	start_image_thread(&config[4]);
 
 	// Module IMAGE, SSDV 2m 2FSK
 	config[5].power = 127;									// Transmission Power
diff --git a/tracker/software/debug.c b/tracker/software/debug.c
index 95edd1d..04f8727 100644
--- a/tracker/software/debug.c
+++ b/tracker/software/debug.c
@@ -5,6 +5,7 @@
 #include "config.h"
 #include "image.h"
 #include "tracking.h"
+#include "pi2c.h"
 
 const SerialConfig uart_config =
 {
@@ -18,23 +19,19 @@ mutex_t trace_mtx; // Used internal to synchronize multiple chprintf in debug.h
 
 bool debug_on_usb = false;
 
-void debugOnUSB_Off(BaseSequentialStream *chp, int argc, char *argv[])
+void debugOnUSB(BaseSequentialStream *chp, int argc, char *argv[])
 {
-	(void)chp;
-	(void)argc;
-	(void)argv;
-	debug_on_usb = false;
+	if(argc < 1)
+	{
+		chprintf(chp, "Argument missing!\r\n");
+		chprintf(chp, "Argument 1: 1 for switch on, 0 for switch off!\r\n");
+		return;
+	}
+
+	debug_on_usb = atoi(argv[0]);
 }
 
-void debugOnUSB_On(BaseSequentialStream *chp, int argc, char *argv[])
-{
-	(void)chp;
-	(void)argc;
-	(void)argv;
-	debug_on_usb = true;
-}
-
-static uint8_t usb_buffer[96*1024] __attribute__((aligned(32))); // USB image buffer
+static uint8_t usb_buffer[64*1024] __attribute__((aligned(32))); // USB image buffer
 void printPicture(BaseSequentialStream *chp, int argc, char *argv[])
 {
 	(void)argc;
@@ -67,8 +64,8 @@ void printPicture(BaseSequentialStream *chp, int argc, char *argv[])
 		}
 		if(!start_detected)
 		{
-			TRACE_USB("DATA > image,jpeg,0");
-			TRACE_USB("DATA > error,no SOI flag found");
+			TRACE_USB("DATA > image/jpeg,0");
+			TRACE_USB("DATA > text/trace,no SOI flag found");
 		}
 
 	} else { // No camera found
@@ -79,16 +76,11 @@ void printPicture(BaseSequentialStream *chp, int argc, char *argv[])
 	}
 }
 
-trackPoint_t* getLogBuffer(uint16_t id)
+void command2Camera(BaseSequentialStream *chp, int argc, char *argv[])
 {
-	if(sizeof(trackPoint_t)*id < LOG_SECTOR_SIZE-sizeof(trackPoint_t))
-	{
-		return (trackPoint_t*)(LOG_FLASH_ADDR1 + id * sizeof(trackPoint_t));
-	} else if((id-(LOG_SECTOR_SIZE/sizeof(trackPoint_t)))*sizeof(trackPoint_t) < LOG_SECTOR_SIZE-sizeof(trackPoint_t)) {
-		return (trackPoint_t*)(LOG_FLASH_ADDR2 + (id-(LOG_SECTOR_SIZE/sizeof(trackPoint_t))) * sizeof(trackPoint_t));
-	} else { // Outside of memory address allocation
-		return NULL;
-	}
+	(void)chp;
+	(void)argc;
+	I2C_write8_16bitreg(0x3C, atoi(argv[0]), atoi(argv[1]));
 }
 
 void readLog(BaseSequentialStream *chp, int argc, char *argv[])
@@ -96,17 +88,19 @@ void readLog(BaseSequentialStream *chp, int argc, char *argv[])
 	(void)argc;
 	(void)argv;
 
+	chprintf(chp, "id,date,time,lat,lon,alt,sats,ttff,vbat,vsol,vsub,pbat,rbat,press,temp,hum,idimg\r\n");
+
 	trackPoint_t *tp;
 	for(uint16_t i=0; (tp = getLogBuffer(i)) != NULL; i++)
 		if(tp->id != 0xFFFFFFFF)
 		{
 			chprintf(	chp,
-						"%d,%04d-%02d-%02d,%02d:%02d:%02d,%d.%05d,%d.%05d,%d,%d,%d,%d.%03d,%d.%03d,%d.%03d,%d,%d,%d.%01d,%2d.%02d,%2d.%01d\r\n",
+						"%d,%04d-%02d-%02d,%02d:%02d:%02d,%d.%05d,%d.%05d,%d,%d,%d,%d.%03d,%d.%03d,%d.%03d,%d,%d,%d.%01d,%2d.%02d,%2d.%01d,%d\r\n",
 						tp->id,tp->time.year, tp->time.month, tp->time.day, tp->time.hour, tp->time.minute, tp->time.day,
 						tp->gps_lat/10000000, (tp->gps_lat > 0 ? 1:-1)*(tp->gps_lat/100)%100000, tp->gps_lon/10000000, (tp->gps_lon > 0 ? 1:-1)*(tp->gps_lon/100)%100000, tp->gps_alt,
 						tp->gps_sats, tp->gps_ttff,
 						tp->adc_vbat/1000, (tp->adc_vbat%1000), tp->adc_vsol/1000, (tp->adc_vsol%1000), tp->adc_vusb/1000, (tp->adc_vusb%1000), tp->adc_pbat, tp->adc_rbat,
-						tp->air_press/10, tp->air_press%10, tp->air_temp/100, tp->air_temp%100, tp->air_hum/10, tp->air_hum%10
+						tp->air_press/10, tp->air_press%10, tp->air_temp/100, tp->air_temp%100, tp->air_hum/10, tp->air_hum%10, tp->id_image
 			);
 		}
 }
@@ -117,6 +111,7 @@ void printConfig(BaseSequentialStream *chp, int argc, char *argv[])
 	{
 		chprintf(chp, "Argument missing!\r\n");
 		chprintf(chp, "Argument 1: Id of config!\r\n");
+		return;
 	}
 
 	uint8_t id = atoi(argv[0]);
@@ -125,9 +120,14 @@ void printConfig(BaseSequentialStream *chp, int argc, char *argv[])
 	chprintf(chp, "Power: %d\r\n", config[id].power);
 
 	if(config[id].frequency.type == FREQ_STATIC) {
-		chprintf(chp, "Frequency: %d Hz\r\n", config[id].frequency.hz);
+		uint32_t freq = config[id].frequency.hz;
+		if((freq/1000)*1000 == freq)
+			chprintf(chp, "Frequency: %d.%03d MHz\r\n", freq/1000000, (freq%1000000)/1000);
+		else
+			chprintf(chp, "Frequency: %d.%03d MHz\r\n", freq/1000000, (freq%1000000));
 	} else {
-		chprintf(chp, "Frequency: APRS region dependent (currently %d Hz\r\n", getFrequency(&config[id].frequency));
+		uint32_t freq = getFrequency(&config[id].frequency);
+		chprintf(chp, "Frequency: APRS region dependent (currently %d.%03d MHz)\r\n", freq/1000000, (freq%1000000)/1000);
 	}
 
 	chprintf(chp, "Protocol: %d\r\n", config[id].protocol);
diff --git a/tracker/software/debug.h b/tracker/software/debug.h
index 5f5a747..60a6123 100644
--- a/tracker/software/debug.h
+++ b/tracker/software/debug.h
@@ -104,11 +104,11 @@ extern bool debug_on_usb;
 	TRACE_INFO("%-4s > Current time: %02d-%02d-%02d %02d:%02d:%02d:%03d", thd, dbgtime.year, dbgtime.month, dbgtime.day, dbgtime.hour, dbgtime.minute, dbgtime.second, dbgtime.millisecond); \
 }
 
-void debugOnUSB_Off(BaseSequentialStream *chp, int argc, char *argv[]);
-void debugOnUSB_On(BaseSequentialStream *chp, int argc, char *argv[]);
+void debugOnUSB(BaseSequentialStream *chp, int argc, char *argv[]);
 void printConfig(BaseSequentialStream *chp, int argc, char *argv[]);
 void printPicture(BaseSequentialStream *chp, int argc, char *argv[]);
 void readLog(BaseSequentialStream *chp, int argc, char *argv[]);
+void command2Camera(BaseSequentialStream *chp, int argc, char *argv[]);
 
 #endif
 
diff --git a/tracker/software/drivers/ov5640.c b/tracker/software/drivers/ov5640.c
index 4642140..b7f9ee7 100644
--- a/tracker/software/drivers/ov5640.c
+++ b/tracker/software/drivers/ov5640.c
@@ -27,11 +27,11 @@ static const struct regval_list OV5640YUV_Sensor_Dvp_Init[] =
 	{ 0x4051, 0x8f },
 
 	{ 0x3008, 0x42 }, 
-	{ 0x3103, 0x03 }, 
+	{ 0x3103, 0x03 },
 	{ 0x3017, 0x7f }, 
 	{ 0x3018, 0xff }, 		
 	{ 0x302c, 0x02 }, 		
-	{ 0x3108, 0x21 }, 	
+	{ 0x3108, 0x21 }, // PCLK root divider [5:4]	
 	{ 0x3630, 0x2e },//2e
 	{ 0x3632, 0xe2 }, 
 	{ 0x3633, 0x23 },//23 
@@ -92,12 +92,12 @@ static const struct regval_list OV5640YUV_Sensor_Dvp_Init[] =
 	{ 0x3814, 0x31 }, 
 	{ 0x3815, 0x31 },		
 
-	{ 0x3034, 0x1a }, 
-	{ 0x3035, 0x11 }, //15fps
-	{ 0x3036, 0x46 }, 
-	{ 0x3037, 0x14 }, 
-	{ 0x3038, 0x00 }, 
-	{ 0x3039, 0x00 }, 
+	{ 0x3034, 0x1a }, // PLL charge pump control [7:4]
+	{ 0x3035, 0x11 }, // System clock divider [7:4]
+	{ 0x3036, 0x46 }, // PLL multiplier [7:0]
+	{ 0x3037, 0x14 }, // PLL root divider [4], PLL pre-divider [3:0]
+	{ 0x3038, 0x00 }, // System control registers (changing not recommended)
+	{ 0x3039, 0x00 }, // PLL bypass [7]
 
 	{ 0x380c, 0x07 }, 
 	{ 0x380d, 0x68 }, 
@@ -802,7 +802,6 @@ void set6MHz(void)
   */
 static bool analyze_image(uint8_t *image, uint32_t image_len)
 {
-	return true;
 	ssdv_t ssdv;
 	uint8_t pkt[SSDV_PKT_SIZE];
 	uint8_t *b;
@@ -851,7 +850,7 @@ static bool analyze_image(uint8_t *image, uint32_t image_len)
   */
 uint32_t OV5640_Snapshot2RAM(uint8_t* buffer, uint32_t size, resolution_t res, bool enableJpegValidation)
 {
-	uint8_t cntr = 5;
+	uint8_t cntr = 10;
 	bool status;
 	bool jpegValid;
 	uint32_t size_sampled;
diff --git a/tracker/software/main.c b/tracker/software/main.c
index f7b2ac0..70f8e95 100644
--- a/tracker/software/main.c
+++ b/tracker/software/main.c
@@ -8,16 +8,16 @@
 #include "shell.h"
 
 static const ShellCommand commands[] = {
-	{"dbgon", debugOnUSB_On},
-	{"dbgoff", debugOnUSB_Off},
+	{"debug", debugOnUSB},
 	{"picture", printPicture},
 	{"log", readLog},
-//	{"printconfig", printConfig}, FIXME: This feature is faulty at the moment
+	{"config", printConfig},
+	{"command", command2Camera},
 	{NULL, NULL}
 };
 
 static const ShellConfig shell_cfg = {
-	(BaseSequentialStream *)&SDU1,
+	(BaseSequentialStream*)&SDU1,
 	commands
 };
 
@@ -30,7 +30,7 @@ int main(void) {
 
 	// Voltage switching (1.8V <=> 3.0V)
 	#if ACTIVATE_USB || ACTIVATE_3V
-	boost_voltage(true); // Ramp up voltage to 3V
+	boost_voltage(true);		// Ramp up voltage to 3V
 	chThdSleepMilliseconds(100);
 	#endif
 
@@ -54,9 +54,8 @@ int main(void) {
 	start_essential_threads();	// Startup required modules (tracking managemer, watchdog)
 	start_user_modules();		// Startup optional modules (eg. POSITION, LOG, ...)
 
-	// Print time every 10 sec
 	while(true) {
-		if (SDU1.config->usbp->state == USB_ACTIVE) {
+		if(SDU1.config->usbp->state == USB_ACTIVE) {
 			thread_t *shelltp = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(512), "shell", NORMALPRIO+1, shellThread, (void*)&shell_cfg);
 			chThdWait(shelltp);
 		}
diff --git a/tracker/software/protocols/aprs/aprs.c b/tracker/software/protocols/aprs/aprs.c
index ec00f58..be59c74 100644
--- a/tracker/software/protocols/aprs/aprs.c
+++ b/tracker/software/protocols/aprs/aprs.c
@@ -125,6 +125,11 @@ uint32_t aprs_encode_position(uint8_t* message, mod_t mod, const aprs_conf_t *co
 		chsnprintf(temp, sizeof(temp), "%d", ++loss_of_gps_counter);
 		ax25_send_string(&packet, temp);
 
+	} else if(trackPoint->gps_lock == GPS_LOG) { // GPS position from log (because the tracker has been just switched on)
+
+		ax25_send_string(&packet, " GPS FROM LOG");
+		loss_of_gps_counter = 0;
+
 	} else {
 		loss_of_gps_counter = 0;
 	}
diff --git a/tracker/software/radio.c b/tracker/software/radio.c
index c625d91..b2be683 100644
--- a/tracker/software/radio.c
+++ b/tracker/software/radio.c
@@ -305,45 +305,48 @@ void shutdownRadio(void)
 uint32_t getAPRSRegionFrequency(void) {
 	trackPoint_t *point = getLastTrackPoint();
 
-	uint32_t freq = 0; // Position unknown
+	// Position unknown
+	if(point == NULL || (point->gps_lat == 0 && point->gps_lon == 0))
+		return 0;
 	
 	// America 144.390 MHz
 	if(isPointInAmerica(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_AMERICA;
+		return APRS_FREQ_AMERICA;
 
 	// China 144.640 MHz
 	if(isPointInChina(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_CHINA;
+		return APRS_FREQ_CHINA;
 
 	// Japan 144.660 MHz
 	if(isPointInJapan(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_JAPAN;
+		return APRS_FREQ_JAPAN;
 
 	// Southkorea 144.620 MHz
 	if(isPointInSouthkorea(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_SOUTHKOREA;
+		return APRS_FREQ_SOUTHKOREA;
 
 	// Southkorea 144.620 MHz
 	if(isPointInSoutheastAsia(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_SOUTHEASTASIA;
+		return APRS_FREQ_SOUTHEASTASIA;
 
 	// Australia 145.175 MHz
 	if(isPointInAustralia(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_AUSTRALIA;
+		return APRS_FREQ_AUSTRALIA;
 
 	// Australia 144.575 MHz
 	if(isPointInNewZealand(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_NEWZEALAND;
+		return APRS_FREQ_NEWZEALAND;
 
 	// Argentina/Paraguay/Uruguay 144.930 MHz
 	if(isPointInArgentina(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_ARGENTINA;
+		return APRS_FREQ_ARGENTINA;
 
 	// Brazil 145.575 MHz
 	if(isPointInBrazil(point->gps_lat, point->gps_lon))
-		freq = APRS_FREQ_BRAZIL;
+		return APRS_FREQ_BRAZIL;
 
-	return freq;
+	// For the rest of the world 144.800 MHz
+	return 144800000;
 }
 
 /**
@@ -420,7 +423,7 @@ uint32_t getFrequency(freq_conf_t *config)
 	switch(config->type) {
 		case FREQ_APRS_REGION:; // Dynamic frequency (determined by GPS position)
 			uint32_t freq = getAPRSRegionFrequency();
-			if(!freq) // Use default frequency (if freq is not set = position unknown)
+			if(!freq) // Use default frequency (if freq is 0 = position unknown)
 				return config->hz;
 			return freq;
 
diff --git a/tracker/software/threads/image.c b/tracker/software/threads/image.c
index d8d59aa..4e863ef 100644
--- a/tracker/software/threads/image.c
+++ b/tracker/software/threads/image.c
@@ -273,7 +273,7 @@ const uint8_t noCameraFound[4071] = {
 	0xBD, 0xC0, 0x20, 0x00, 0x01, 0xFF, 0xD9
 };
 
-static uint8_t gimage_id; // Global image ID (for all image threads)
+uint8_t gimage_id; // Global image ID (for all image threads)
 mutex_t camera_mtx;
 bool camera_mtx_init = false;
 
diff --git a/tracker/software/threads/image.h b/tracker/software/threads/image.h
index a8a2560..3d1d672 100644
--- a/tracker/software/threads/image.h
+++ b/tracker/software/threads/image.h
@@ -7,6 +7,7 @@
 void start_image_thread(module_conf_t *conf);
 bool takePicture(ssdv_conf_t *conf, bool enableJpegValidation);
 extern mutex_t camera_mtx;
+extern uint8_t gimage_id;
 
 #endif
 
diff --git a/tracker/software/threads/position.c b/tracker/software/threads/position.c
index a4b516c..7ff285d 100644
--- a/tracker/software/threads/position.c
+++ b/tracker/software/threads/position.c
@@ -213,7 +213,7 @@ void start_position_thread(module_conf_t *conf)
 	if(conf->init_delay) chThdSleepMilliseconds(conf->init_delay);
 
 	// Start tracking manager (if not running yet)
-	init_tracking_manager();
+	init_tracking_manager(true);
 
 	// Start position thread
 	TRACE_INFO("POS  > Startup position thread");
diff --git a/tracker/software/threads/threads.c b/tracker/software/threads/threads.c
index cb80d5a..a1de7a6 100644
--- a/tracker/software/threads/threads.c
+++ b/tracker/software/threads/threads.c
@@ -1,11 +1,9 @@
 #include "ch.h"
 #include "hal.h"
 
-#include "debug.h"
 #include "threads.h"
 #include "tracking.h"
 #include "watchdog.h"
-#include "image.h"
 #include "pi2c.h"
 #include "pac1720.h"
 
@@ -15,9 +13,8 @@ void start_essential_threads(void) {
 	// Init watchdog
 	init_watchdog();
 
-	// Initialize essential mutex's
-	
-	
+	// Initialize tracking manager (without GPS, GPS is initialized if needed by position thread)
+	init_tracking_manager(false);
 
 	pi2cInit();					// Initialize I2C
 	pac1720_init();				// Initialize current measurement
diff --git a/tracker/software/threads/tracking.c b/tracker/software/threads/tracking.c
index 766fb9f..d0e7ce1 100644
--- a/tracker/software/threads/tracking.c
+++ b/tracker/software/threads/tracking.c
@@ -3,7 +3,6 @@
 
 #include "tracking.h"
 #include "debug.h"
-#include "ptime.h"
 #include "config.h"
 #include "ublox.h"
 #include "bme280.h"
@@ -12,12 +11,14 @@
 #include "radio.h"
 #include "flash.h"
 #include "watchdog.h"
+#include "image.h"
 
 static trackPoint_t trackPoints[2];
 static trackPoint_t* lastTrackPoint;
 static systime_t nextLogEntryTimer;
 static module_conf_t trac_conf = {.name = "TRAC"}; // Fake config needed for watchdog tracking
 static bool threadStarted = false;
+static bool tracking_useGPS = false;
 
 /**
   * Returns most recent track point witch is complete.
@@ -27,73 +28,48 @@ trackPoint_t* getLastTrackPoint(void)
 	return lastTrackPoint;
 }
 
-/**
-  * Returns next free log entry address in memory. Returns 0 if all cells are
-  * filled with data
-  */
-static uint32_t getNextFreeLogAddress(void)
+trackPoint_t* getLogBuffer(uint16_t id)
 {
-	// Search in flash sector 10
-	for(uint32_t address = LOG_FLASH_ADDR1; address < LOG_FLASH_ADDR1+LOG_SECTOR_SIZE; address += sizeof(trackPoint_t))
+	if(sizeof(trackPoint_t)*id < LOG_SECTOR_SIZE-sizeof(trackPoint_t))
 	{
-		trackPoint_t pt;
-		flashRead(address, (char*)&pt, sizeof(trackPoint_t));
-		if(pt.id == 0xFFFFFFFF)
-			return address;
+		return (trackPoint_t*)(LOG_FLASH_ADDR1 + id * sizeof(trackPoint_t));
+	} else if((id-(LOG_SECTOR_SIZE/sizeof(trackPoint_t)))*sizeof(trackPoint_t) < LOG_SECTOR_SIZE-sizeof(trackPoint_t)) {
+		return (trackPoint_t*)(LOG_FLASH_ADDR2 + (id-(LOG_SECTOR_SIZE/sizeof(trackPoint_t))) * sizeof(trackPoint_t));
+	} else { // Outside of memory address allocation
+		return NULL;
 	}
-
-	// Search in flash sector 11
-	for(uint32_t address = LOG_FLASH_ADDR2; address < LOG_FLASH_ADDR2+LOG_SECTOR_SIZE; address += sizeof(trackPoint_t))
-	{
-		trackPoint_t pt;
-		flashRead(address, (char*)&pt, sizeof(trackPoint_t));
-		if(pt.id == 0xFFFFFFFF)
-			return address;
-	}
-	return 0;
 }
 
 /**
   * Returns next free log entry address in memory. Returns 0 if all cells are
   * filled with data
   */
-static bool getLastLog(trackPoint_t* last)
+static trackPoint_t* getNextFreeLogAddress(void)
 {
-	TRACE_INFO("TRAC > Read last track point from flash memory");
+	trackPoint_t* tp;
+	for(uint16_t i=0; (tp = getLogBuffer(i)) != NULL; i++)
+		if(tp->id == 0xFFFFFFFF)
+			return tp;
 
-	uint64_t last_time = 0;
-	uint32_t last_address = 0;
+	return NULL;
+}
 
-	// Search in flash sector 10
-	for(uint32_t address = LOG_FLASH_ADDR1; address < LOG_FLASH_ADDR1+LOG_SECTOR_SIZE; address += sizeof(trackPoint_t))
-	{
-		trackPoint_t pt;
-		flashRead(address, (char*)&pt, sizeof(trackPoint_t));
-		if(pt.id != 0xFFFFFFFF && date2UnixTimestamp(pt.time) >= last_time) {
-			last_address = address;
-			last_time = date2UnixTimestamp(pt.time);
-		}
-	}
-
-	// Search in flash sector 11
-	for(uint32_t address = LOG_FLASH_ADDR2; address < LOG_FLASH_ADDR2+LOG_SECTOR_SIZE; address += sizeof(trackPoint_t))
-	{
-		trackPoint_t pt;
-		flashRead(address, (char*)&pt, sizeof(trackPoint_t));
-		if(pt.id != 0xFFFFFFFF && date2UnixTimestamp(pt.time) >= last_time) {
-			last_address = address;
-			last_time = date2UnixTimestamp(pt.time);
-		}
-	}
-
-	if(last_address) {
-		flashRead(last_address, (char*)last, sizeof(trackPoint_t));
-		TRACE_INFO("TRAC > Found track point in flash memory ID=%d", last->id);
-		return true;
-	} else {
-		TRACE_INFO("TRAC > No track point found in flash memory");
-		return false;
+/**
+  * Returns next free log entry address in memory. Returns 0 if all cells are
+  * filled with data
+  */
+static trackPoint_t* getLastLog(void)
+{
+	trackPoint_t* last = NULL;
+	trackPoint_t* tp;
+	for(uint16_t i=0; (tp = getLogBuffer(i)) != NULL; i++) {
+		if(tp->id == 0xFFFFFFFF)
+			return last; // Found last entry
+		last = tp;
 	}
+	if(last->id != 0xFFFFFFFF)
+		return last; // All memory entries are use, so the very last one must be the most recent one.
+	return NULL; // There is no log entry in memory
 }
 
 /**
@@ -119,13 +95,13 @@ static void eraseOldestLogData(void)
 static void writeLogTrackPoint(trackPoint_t* tp)
 {
 	// Get address to write on
-	uint32_t address = getNextFreeLogAddress();
-	if(!address) // Memory completly used, erase oldest data
+	trackPoint_t* address = getNextFreeLogAddress();
+	if(address == NULL) // Memory completly used, erase oldest data
 	{
 		eraseOldestLogData();
 		address = getNextFreeLogAddress();
 	}
-	if(!address) // Something went wront at erasing the memory
+	if(address == NULL) // Something went wront at erasing the memory
 	{
 		TRACE_ERROR("TRAC > Erasing flash failed");
 		return;
@@ -133,12 +109,12 @@ static void writeLogTrackPoint(trackPoint_t* tp)
 
 	// Write data into flash
 	TRACE_INFO("TRAC > Flash write (ADDR=%08x)", address);
-	flashSectorBegin(flashSectorAt(address));
-	flashWrite(address, (char*)tp, sizeof(trackPoint_t));
-	flashSectorEnd(flashSectorAt(address));
+	flashSectorBegin(flashSectorAt((uint32_t)address));
+	flashWrite((uint32_t)address, (char*)tp, sizeof(trackPoint_t));
+	flashSectorEnd(flashSectorAt((uint32_t)address));
 
 	// Verify
-	if(flashCompare(address, (char*)tp, sizeof(trackPoint_t)))
+	if(flashCompare((uint32_t)address, (char*)tp, sizeof(trackPoint_t)))
 		TRACE_INFO("TRAC > Flash write OK")
 	else
 		TRACE_ERROR("TRAC > Flash write failed");
@@ -172,20 +148,25 @@ THD_FUNCTION(trackingThread, arg) {
 	lastTrackPoint->time.minute = rtc.minute;
 	lastTrackPoint->time.second = rtc.second;
 
-	// Get last GPS fix from memory
-	trackPoint_t lastLogPoint;
-	if(getLastLog(&lastLogPoint)) { // If there has been stored a trackpoint, then get the last know GPS fix
-		lastTrackPoint->gps_lat = lastLogPoint.gps_lat;
-		lastTrackPoint->gps_lon = lastLogPoint.gps_lon;
-		lastTrackPoint->gps_alt = lastLogPoint.gps_alt;
+	// Get last tracking point from memory
+	TRACE_INFO("TRAC > Read last track point from flash memory");
+	trackPoint_t* lastLogPoint = getLastLog();
+
+	if(lastLogPoint != NULL) { // If there has been stored a trackpoint, then get the last know GPS fix
+		TRACE_INFO("TRAC > Found track point in flash memory ID=%d", lastLogPoint->id);
+		lastTrackPoint->gps_lat = lastLogPoint->gps_lat;
+		lastTrackPoint->gps_lon = lastLogPoint->gps_lon;
+		lastTrackPoint->gps_alt = lastLogPoint->gps_alt;
+	} else {
+		TRACE_INFO("TRAC > No track point found in flash memory");
 	}
 
-	lastTrackPoint->gps_lock = GPS_LOSS; // But tell the user that there is no current lock nor any GPS sats locked
+	lastTrackPoint->gps_lock = GPS_LOG; // Tell other threads that it has been taken from log
 	lastTrackPoint->gps_sats = 0;
 	lastTrackPoint->gps_ttff = 0;
 
 	// Debug last stored GPS position
-	if(lastLogPoint.id != 0xFFFFFFFF) {
+	if(lastLogPoint != NULL) {
 		TRACE_INFO(
 			"TRAC > Last GPS position (from memory)\r\n"
 			"%s Latitude: %d.%07ddeg\r\n"
@@ -220,6 +201,14 @@ THD_FUNCTION(trackingThread, arg) {
 		lastTrackPoint->air_temp = 0;
 	}
 
+	/*
+	 * Get last image ID. This is important because Habhub does mix up different
+	 * images with the same it. So it is good to use a new image ID when the
+	 * tracker has been reset.
+	 */
+	if(lastLogPoint != NULL)
+		gimage_id = lastLogPoint->id_image;
+
 	systime_t time = chVTGetSystemTimeX();
 	while(true)
 	{
@@ -232,9 +221,9 @@ THD_FUNCTION(trackingThread, arg) {
 		// Search for GPS satellites
 		gpsFix_t gpsFix = {{0,0,0,0,0,0,0},0,0,0,0,0};
 
-		// Switch on GPS is enough power is available
+		// Switch on GPS is enough power is available and GPS is needed by any position thread
 		uint16_t batt = getBatteryVoltageMV();
-		if(batt >= gps_on_vbat)
+		if(batt >= gps_on_vbat && tracking_useGPS)
 		{
 			// Switch on GPS
 			GPS_Init();
@@ -304,8 +293,11 @@ THD_FUNCTION(trackingThread, arg) {
 			tp->gps_lon = ltp->gps_lon;
 			tp->gps_alt = ltp->gps_alt;
 
-			// Mark GPS loss (or low batt)
-			tp->gps_lock = batt < gps_off_vbat ? GPS_LOWBATT : GPS_LOSS;
+			// Mark GPS loss (or low batt,  GPS switch off)
+			if(tracking_useGPS)
+				tp->gps_lock = batt < gps_off_vbat ? GPS_LOWBATT : GPS_LOSS;
+			else
+				tp->gps_lock = GPS_OFF;
 			tp->gps_sats = 0;
 
 		}
@@ -335,23 +327,26 @@ THD_FUNCTION(trackingThread, arg) {
 			tp->air_temp = 0;
 		}
 
+		// Set last time ID
+		tp->id_image = gimage_id;
+
 		// Trace data
 		TRACE_INFO(	"TRAC > New tracking point available (ID=%d)\r\n"
 					"%s Time %04d-%02d-%02d %02d:%02d:%02d\r\n"
 					"%s Pos  %d.%05d %d.%05d Alt %dm\r\n"
 					"%s Sats %d  TTFF %dsec\r\n"
 					"%s ADC Vbat=%d.%03dV Vsol=%d.%03dV VUSB=%d.%03dV Pbat=%dmW Rbat=%dmOhm\r\n"
-					"%s AIR p=%6d.%01dPa T=%2d.%02ddegC phi=%2d.%01d%%",
+					"%s AIR p=%6d.%01dPa T=%2d.%02ddegC phi=%2d.%01d%% ImageID=%d",
 					tp->id,
 					TRACE_TAB, tp->time.year, tp->time.month, tp->time.day, tp->time.hour, tp->time.minute, tp->time.day,
 					TRACE_TAB, tp->gps_lat/10000000, (tp->gps_lat > 0 ? 1:-1)*(tp->gps_lat/100)%100000, tp->gps_lon/10000000, (tp->gps_lon > 0 ? 1:-1)*(tp->gps_lon/100)%100000, tp->gps_alt,
 					TRACE_TAB, tp->gps_sats, tp->gps_ttff,
 					TRACE_TAB, tp->adc_vbat/1000, (tp->adc_vbat%1000), tp->adc_vsol/1000, (tp->adc_vsol%1000), tp->adc_vusb/1000, (tp->adc_vusb%1000), tp->adc_pbat, tp->adc_rbat,
-					TRACE_TAB, tp->air_press/10, tp->air_press%10, tp->air_temp/100, tp->air_temp%100, tp->air_hum/10, tp->air_hum%10
+					TRACE_TAB, tp->air_press/10, tp->air_press%10, tp->air_temp/100, tp->air_temp%100, tp->air_hum/10, tp->air_hum%10, tp->id_image
 		);
 
 		// Append logging (timeout)
-		if(nextLogEntryTimer <= chVTGetSystemTimeX() && isGPSLocked(&gpsFix))
+		if(nextLogEntryTimer <= chVTGetSystemTimeX())
 		{
 			writeLogTrackPoint(tp);
 			nextLogEntryTimer += log_cycle_time;
@@ -365,8 +360,11 @@ THD_FUNCTION(trackingThread, arg) {
 	}
 }
 
-void init_tracking_manager(void)
+void init_tracking_manager(bool useGPS)
 {
+	if(useGPS)
+		tracking_useGPS = true;
+
 	if(!threadStarted)
 	{
 		threadStarted = true;
diff --git a/tracker/software/threads/tracking.h b/tracker/software/threads/tracking.h
index c9b6c42..ae2203a 100644
--- a/tracker/software/threads/tracking.h
+++ b/tracker/software/threads/tracking.h
@@ -5,16 +5,20 @@
 #include "hal.h"
 #include "ptime.h"
 
-#define GPS_LOCKED	0	/* GPS is locked and could aquire a fix */
-#define GPS_LOSS	1	/* GPS was switched on all time but it couln't aquire a fix */
-#define GPS_LOWBATT	2	/* GPS was switched on but had to be switched off prematurely while the battery is almost empty (or is too cold) */
+typedef enum {
+	GPS_LOCKED,		// GPS is locked and could aquire a fix
+	GPS_LOSS,		// GPS was switched on all time but it couln't aquire a fix
+	GPS_LOWBATT,	// GPS was switched on but had to be switched off prematurely while the battery is almost empty (or is too cold)
+	GPS_LOG,		// The tracker has been just switched on and the position has been taken from the log
+	GPS_OFF,		// There is no active position thread so the GPS was never switched on (in oder to save power)
+} gpsLock_t;
 
 typedef struct {
 	uint32_t id;			// Serial ID
 	ptime_t time;			// GPS time
 
 	// GPS
-	uint8_t gps_lock;		// 0: locked, 1: GPS loss, 2: low power (switched off)
+	gpsLock_t gps_lock;		// 0: locked, 1: GPS loss, 2: low power (switched off), 3: taken from log, 4: GPS switch off permanently
 	int32_t gps_lat;		// Latitude in °*10^7
 	int32_t gps_lon;		// Longitude in °*10^7
 	int32_t gps_alt;		// Altitude in meter
@@ -32,12 +36,15 @@ typedef struct {
 	uint32_t air_press;		// Airpressure in Pa*10 (in 0.1Pa)
 	uint16_t air_hum;		// Rel. humidity in %*10 (in 0.1%)
 	int16_t air_temp;		// Temperature in degC*100 (in 0.01°C)
+
+	int8_t id_image;		// Last image ID (this is important because it will set the image counter at reset so the last image wont get overwritten with the same image ID)
 } trackPoint_t;
 
 void waitForNewTrackPoint(void);
 trackPoint_t* getLastTrackPoint(void);
 void getNextLogTrackPoint(trackPoint_t* log);
-void init_tracking_manager(void);
+void init_tracking_manager(bool useGPS);
+trackPoint_t* getLogBuffer(uint16_t id);
 
 #endif