diff --git a/rx/telemetry_console.py b/rx/telemetry_console.py
index 48cba25..80c4317 100644
--- a/rx/telemetry_console.py
+++ b/rx/telemetry_console.py
@@ -11,6 +11,8 @@ import datetime
 import traceback
 from WenetPackets import *
 
+log_file = open('telemetry.log', 'a')
+
 def process_udp(udp_packet):
     """ Process received UDP packets. """
     # Grab timestamp.
@@ -21,7 +23,11 @@ def process_udp(udp_packet):
     packet = packet_dict['packet']
 
     # Convert to string, and print to terminal with timestamp.
-    print("%s \t%s" % (timestamp,packet_to_string(packet)))
+    telem_string = "%s \t%s" % (timestamp,packet_to_string(packet))
+
+    print(telem_string)
+    log_file.write(telem_string + "\n")
+    log_file.flush()
 
 
 
diff --git a/tx/BNO055.py b/tx/BNO055.py
index 04747f5..e9e890f 100644
--- a/tx/BNO055.py
+++ b/tx/BNO055.py
@@ -801,7 +801,6 @@ class WenetBNO055(object):
             self.log_file = None
 
         self.bno = None
-        self.init()
 
         # Start RX thead.
         self.rx_thread = Thread(target=self.rx_loop)
@@ -810,7 +809,7 @@ class WenetBNO055(object):
     def init(self, reset=True):
         while self.bno == None:
             try:
-                self.bno = BNO055(serial_port=port)
+                self.bno = BNO055(serial_port=self.port)
                 success = self.bno.begin(reset=reset)
                 if success:
                     self.debug_message("Connected to BNO055!")
@@ -890,6 +889,9 @@ class WenetBNO055(object):
     def rx_loop(self):
         """ Main BNO055 polling loop. """
 
+        # Initialise BNO055
+        self.init()
+
         while self.rx_running:
             try:
                 # Grab a complete set of data from the BNO055
@@ -943,7 +945,6 @@ class WenetBNO055(object):
                 # Clear write locks.
                 self.state_blockwrite = False
                 self.state_writelock = False
-                print(time.time()-start)
 
                 if self.rx_counter % self.callback_decimation == 0:
                     # Send data to the callback function.
diff --git a/tx/PacketTX.py b/tx/PacketTX.py
index 77f1159..a9c4f56 100644
--- a/tx/PacketTX.py
+++ b/tx/PacketTX.py
@@ -18,6 +18,7 @@ import serial
 import Queue
 import sys
 import os
+import datetime
 import crcmod
 import struct
 import traceback
@@ -69,7 +70,14 @@ class PacketTX(object):
 	text_message_count = 0
 
 	# WARNING: 115200 baud is ACTUALLY 115386.834 baud, as measured using a freq counter.
-	def __init__(self,serial_port="/dev/ttyAMA0", serial_baud=115200, payload_length=256, fec=True, debug = False, callsign="N0CALL"):
+	def __init__(self,
+		serial_port="/dev/ttyAMA0", 
+		serial_baud=115200, 
+		payload_length=256, 
+		fec=True, 
+		debug = False, 
+		callsign="N0CALL",
+		log_file = None):
 		
 		# Instantiate our low-level transmit interface, be it a serial port, or the BinaryDebug class.
 		if debug == True:
@@ -88,6 +96,11 @@ class PacketTX(object):
 
 		self.idle_message = self.frame_packet(self.idle_sequence,fec=fec)
 
+		if log_file != None:
+			self.log_file = open(log_file,'a')
+		else:
+			self.log_file = None
+
 	def start_tx(self):
 		self.transmit_active = True
 		txthread = Thread(target=self.tx_thread)
@@ -214,7 +227,13 @@ class PacketTX(object):
 		packet = "\x00" + struct.pack(">BH",len(message),self.text_message_count) + message
 
 		self.queue_telemetry_packet(packet, repeats=repeats)
-		print("TXing Text Message #%d: %s" % (self.text_message_count,message))
+		log_string = "TXing Text Message #%d: %s" % (self.text_message_count,message)
+
+		if self.log_file != None:
+			self.log_file.write(datetime.datetime.now().isoformat() + "," + log_string + "\n")
+
+		print(log_string)
+
 
 	def transmit_gps_telemetry(self, gps_data):
 		""" Generate and Transmit a GPS Telemetry Packet.
@@ -274,6 +293,8 @@ class PacketTX(object):
 
 		# SHSSP Code goes here...
 
+		self.transmit_text_message("Orientation Telemetry Not Implemented.")
+
 		return
 
 	def transmit_image_telemetry(self, gps_data, orientation_data, image_id):
@@ -298,7 +319,7 @@ class PacketTX(object):
 		"""
 
 		# SHSSP Code goes here...
-
+		self.transmit_text_message("Image Telemetry Not Implemented.")
 		return
 
 
diff --git a/tx/tx_picam_gps.py b/tx/tx_picam_gps.py
index b108ae3..7af52c1 100644
--- a/tx/tx_picam_gps.py
+++ b/tx/tx_picam_gps.py
@@ -108,7 +108,13 @@ def post_process_image(filename):
 
 
 # Finally, initialise the PiCam capture object.
-picam = WenetPiCam.WenetPiCam(resolution=(1920,1088), callsign=callsign, num_images=5, debug_ptr=tx.transmit_text_message, vertical_flip=False, horizontal_flip=False)
+picam = WenetPiCam.WenetPiCam(src_resolution=(1920,1088), 
+		tx_resolution=(1920,1088), 
+		callsign=callsign, 
+		num_images=5, 
+		debug_ptr=tx.transmit_text_message, 
+		vertical_flip=False, 
+		horizontal_flip=False)
 # .. and start it capturing continuously.
 picam.run(destination_directory="./tx_images/", 
 	tx = tx,