diff --git a/tracker/software/cfg/pp10a/chconf.h b/tracker/software/cfg/pp10a/chconf.h
index aafad186..795cb730 100644
--- a/tracker/software/cfg/pp10a/chconf.h
+++ b/tracker/software/cfg/pp10a/chconf.h
@@ -557,8 +557,11 @@
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
+#define PORT_IDLE_THREAD_STACK_SIZE 256
 #define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
+  extern void pktIdleThread(void);                                          \
+  pktIdleThread();                                                          \
 }
 
 /**
diff --git a/tracker/software/cfg/pp10a/portab.h b/tracker/software/cfg/pp10a/portab.h
index bc823405..53cbfcde 100644
--- a/tracker/software/cfg/pp10a/portab.h
+++ b/tracker/software/cfg/pp10a/portab.h
@@ -149,7 +149,7 @@
  * Number of general AX25/APRS processing & frame send buffers.
  * Can configured as being in CCM to save system core memory use.
  */
-#define NUMBER_COMMON_PKT_BUFFERS       10U
+#define NUMBER_COMMON_PKT_BUFFERS       15U
 #define RESERVE_BUFFERS_FOR_INTERNAL    2U
 #define MAX_BUFFERS_FOR_BURST_SEND      5U
 #if (MAX_BUFFERS_FOR_BURST_SEND >                                            \
diff --git a/tracker/software/cfg/pp10b/chconf.h b/tracker/software/cfg/pp10b/chconf.h
index aafad186..795cb730 100644
--- a/tracker/software/cfg/pp10b/chconf.h
+++ b/tracker/software/cfg/pp10b/chconf.h
@@ -557,8 +557,11 @@
  * @brief   Idle Loop hook.
  * @details This hook is continuously invoked by the idle thread loop.
  */
+#define PORT_IDLE_THREAD_STACK_SIZE 256
 #define CH_CFG_IDLE_LOOP_HOOK() {                                           \
   /* Idle loop code here.*/                                                 \
+  extern void pktIdleThread(void);                                          \
+  pktIdleThread();                                                          \
 }
 
 /**
diff --git a/tracker/software/cfg/pp10b/portab.h b/tracker/software/cfg/pp10b/portab.h
index 1db67a22..d6a98352 100644
--- a/tracker/software/cfg/pp10b/portab.h
+++ b/tracker/software/cfg/pp10b/portab.h
@@ -139,9 +139,9 @@
 #define NUMBER_RX_PKT_BUFFERS        3U
 
 /* Number of general AX25/APRS processing & frame send buffers. */
-#define NUMBER_COMMON_PKT_BUFFERS       10U
+#define NUMBER_COMMON_PKT_BUFFERS       15U
 #define RESERVE_BUFFERS_FOR_INTERNAL    2U
-#define MAX_BUFFERS_FOR_BURST_SEND      3U
+#define MAX_BUFFERS_FOR_BURST_SEND      5U
 #if (MAX_BUFFERS_FOR_BURST_SEND >                                            \
     (NUMBER_COMMON_PKT_BUFFERS - RESERVE_BUFFERS_FOR_INTERNAL))
 #warning "Can not allocate requested buffers for burst send - set to 50%"
diff --git a/tracker/software/source/protocols/packet/aprs.c b/tracker/software/source/protocols/packet/aprs.c
index e026cc15..28e0e7f3 100644
--- a/tracker/software/source/protocols/packet/aprs.c
+++ b/tracker/software/source/protocols/packet/aprs.c
@@ -1,4 +1,4 @@
-/* trackuino copyright (C) 2010  EA5HAV Javi
+/* Certain parts from trackuino copyright (C) 2010  EA5HAV Javi
  *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
@@ -27,6 +27,7 @@
 #include "flash.h"
 #include "image.h"
 #include "beacon.h"
+#include "threads.h"
 
 #define METER_TO_FEET(m) (((m)*26876) / 8192)
 
diff --git a/tracker/software/source/threads/rxtx/beacon.c b/tracker/software/source/threads/rxtx/beacon.c
index af213aae..df20b808 100644
--- a/tracker/software/source/threads/rxtx/beacon.c
+++ b/tracker/software/source/threads/rxtx/beacon.c
@@ -31,9 +31,8 @@ THD_FUNCTION(bcnThread, arg) {
   sysinterval_t time = chVTGetSystemTime();
 
   /* Now wait for our delay before starting. */
-  sysinterval_t delay = conf->beacon.init_delay;
 
-  chThdSleep(delay);
+  chThdSleepUntil(chVTGetSystemTime() + conf->beacon.init_delay);
 
   while(true) {
 
@@ -96,7 +95,7 @@ THD_FUNCTION(bcnThread, arg) {
                                                            conf->symbol,
                                                            dataPoint, true);
       if(packet == NULL) {
-        TRACE_WARN("BCN  > No free packet objects"
+        TRACE_ERROR("BCN  > No free packet objects"
             " for position transmission");
       } else {
         if(!transmitOnRadio(packet,
@@ -129,7 +128,7 @@ THD_FUNCTION(bcnThread, arg) {
        */
       packet = aprs_compose_aprsd_message(conf->call, path, call);
       if(packet == NULL) {
-        TRACE_WARN("BCN  > No free packet objects "
+        TRACE_ERROR("BCN  > No free packet objects "
             "or badly formed APRSD message");
       } else {
         if(!transmitOnRadio(packet,
@@ -159,7 +158,7 @@ thread_t * start_beacon_thread(bcn_app_conf_t *conf, const char *name) {
                                      name, LOWPRIO, bcnThread, conf);
   if(!th) {
     // Print startup error, do not start watchdog for this thread
-    TRACE_ERROR("BCN  > Could not start thread (not enough memory available)");
+    TRACE_ERROR("BCN  > Could not start thread (insufficient memory)");
   }
   return th;
 }
diff --git a/tracker/software/source/threads/threads.c b/tracker/software/source/threads/threads.c
index 5b28ed0a..1d03fcb5 100644
--- a/tracker/software/source/threads/threads.c
+++ b/tracker/software/source/threads/threads.c
@@ -23,8 +23,7 @@ void start_essential_threads(void)
 	chThdSleep(TIME_MS2I(300));		// Wait for tracking manager to initialize
 }
 
-void start_user_threads(void)
-{
+void start_user_threads(void) {
 	conf_t *conf_flash = (conf_t*)0x08060000;
 	/* Check if a user update has been made to configuration in flash. */
 	if(conf_flash->magic != CONFIG_MAGIC_UPDATED) {
@@ -69,21 +68,35 @@ void start_user_threads(void)
 	                  0,
 	                  conf_sram.aprs.rx.radio_conf.rssi);
 	}
-
-    /**
-     * General thread termination and cleanup.
-     * Called by the thread that is terminating.
-     */
-/*    void pktTerminateThread(thread_t *th) {
-      (void)th;
-    }*/
-
-	/**
-	 * General thread termination and cleanup.
-	 * Handled from the idle thread hook.
-	 */
-/*	void release_terminated_thread(thread_t *th) {
-	  (void)th;
-	}*/
+}
+
+/**
+ * General thread termination and cleanup.
+ * Called by the thread that is terminating.
+ * A message is posted to the idle thread.
+ * Idle then releases the calling thread.
+ */
+void pktTerminateSelf(void) {
+  /* Post self thread to idle for termination cleanup. */
+  msg_t msg = chMsgSend(chSysGetIdleThreadX(), MSG_OK);
+  chThdExit(msg);
+}
+
+/**
+ * General thread termination and cleanup.
+ * Called from the idle thread hook.
+ */
+void pktIdleThread(void) {
+  chSysLock();
+  if(!chMsgIsPendingI(chThdGetSelfX())) {
+    chSysUnlock();
+    return;
+  }
+  /* Get the message from the terminating thread. */
+  chSysUnlock();
+  thread_t *tp = chMsgWait();
+  (void)chMsgGet(tp);
+  chMsgRelease(tp, MSG_OK);
+  (void)chThdWait(tp);
 }
 
diff --git a/tracker/software/source/threads/threads.h b/tracker/software/source/threads/threads.h
index 1e931d9e..deec6566 100644
--- a/tracker/software/source/threads/threads.h
+++ b/tracker/software/source/threads/threads.h
@@ -5,8 +5,12 @@
 
 void start_essential_threads(void);
 void start_user_threads(void);
-void pktTerminateThread(thread_t *th);
-void release_terminated_thread(thread_t *th);
+void pktTerminateSelf(void);
+void pktIdleThread(void);
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
 
 extern sysinterval_t watchdog_tracking; // Last update time for module TRACKING