diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 64f133c8f730f7c685a44f96d5f1af6fe9bd7880..79e5e95f2a251389f6de75fad1a579675239f9ba 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -149,6 +149,8 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     pitch(0.0),
     yaw(0.0),
 
+    imagePackets(0),    // We must initialize to 0, otherwise extended data packets maybe incorrectly thought to be images
+
     blockHomePositionChanges(false),
     receivedMode(false),
 
@@ -1321,6 +1323,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // NO VALID TRANSACTION - ABORT
                 // Restart statemachine
                 imagePacketsArrived = 0;
+                break;
             }
 
             for (int i = 0; i < imagePayload; ++i)
@@ -1337,6 +1340,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if ((imagePacketsArrived >= imagePackets))
             {
                 // Restart statemachine
+                imagePackets = 0;
+                imagePacketsArrived = 0;
                 emit imageReady(this);
                 //qDebug() << "imageReady emitted. all packets arrived";
             }