diff --git a/crazyflie_groundstation/inc/CTOC.h b/crazyflie_groundstation/inc/CTOC.h
index b326be5e8b862707c0f5f4d20a97e135c7a18e03..c07aed490f3900db93f3b5201f7c318bb2843d0e 100644
--- a/crazyflie_groundstation/inc/CTOC.h
+++ b/crazyflie_groundstation/inc/CTOC.h
@@ -60,6 +60,7 @@ struct TOCElement {
   std::string strIdentifier;
   bool bIsLogging;
   double dValue;
+  double timeLastUpdated;
 };
 
 
@@ -140,6 +141,7 @@ class CTOC {
 
   int elementIDinBlock(int nBlockID, int nElementIndex);
   bool setFloatValueForElementID(int nElementID, float fValue);
+  bool setLastUpdateForElementID(int nElementID);
   bool addElementToBlock(int nBlockID, int nElementID);
   bool unregisterLoggingBlockID(int nID);
 
diff --git a/crazyflie_groundstation/src/CTOC.cpp b/crazyflie_groundstation/src/CTOC.cpp
index 4e484aad8f1b294add50ff8d77f133124e4163f2..039b0d95181d7a42e5ca75bf8cf5fea978fddb7f 100644
--- a/crazyflie_groundstation/src/CTOC.cpp
+++ b/crazyflie_groundstation/src/CTOC.cpp
@@ -216,7 +216,8 @@ bool CTOC::processItem(CCRTPPacket* crtpItem) {
 				teNew.nID = nID;
 				teNew.nType = nType;
 				teNew.bIsLogging = false;
-				teNew.dValue = 1;
+				teNew.dValue = 0;
+				teNew.timeLastUpdated = 0;
 
 				if(ALL_THE_DEBUG) printf("Group.Name: %s.%s ID: %i Type: %i ", strGroup.c_str(), strIdentifier.c_str(), nID, nType);
 
@@ -377,6 +378,7 @@ bool CTOC::processNextItem(CCRTPPacket* crtpItem) {
 				teNew.nType = nType;
 				teNew.bIsLogging = false;
 				teNew.dValue = 0;
+				teNew.timeLastUpdated = 0;
 
 				m_lstTOCElements.push_back(teNew);
 
@@ -935,6 +937,7 @@ void CTOC::processPackets(CCRTPPacket *crtpPacket) {
 				}
 
 				this->setFloatValueForElementID(nElementID, fValue);
+				this->setLastUpdateForElementID(nElementID);
 				nOffset += nByteLength;
 				nIndex++;
 			} else {
@@ -990,6 +993,25 @@ bool CTOC::setFloatValueForElementID(int nElementID, float fValue) {
 	return false;
 }
 
+bool CTOC::setLastUpdateForElementID(int nElementID) {
+    if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+	int nIndex = 0;
+	for (std::list<struct TOCElement>::iterator itElement =
+			m_lstTOCElements.begin(); itElement != m_lstTOCElements.end();
+			itElement++, nIndex++) {
+		struct TOCElement teCurrent = *itElement;
+
+		if (teCurrent.nID == nElementID) {
+			teCurrent.timeLastUpdated = m_crazyflie->currentTime(); // We store floats as doubles
+			(*itElement) = teCurrent;
+			// std::cout << fValue << std::endl;
+			return true;
+		}
+	}
+
+	return false;
+}
+
 /*
  * Open a log file for the quadcopter
  *
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
index 32fcc188ad3b370ee2bee2577ac9ec2d842b2221..d0caf41418409adbc4b34ef1c0bcd7f28e1187af 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
@@ -112,10 +112,19 @@ void CCrazyflie::writeLogData() {
 
 	file_log << "\t\t" << this->sensorDoubleValue("testStand");
 	*/
+	bool bFound;
+	TOCElement response;
 	file_log << std::endl;
-	file_log << this->currentTime();
+	double currentTime = this->currentTime();
+	file_log << currentTime;
 	for(int i = 0; i < m_tocLogs->sizeOfActiveList(); i++) {
-		file_log << "\t" << this->sensorDoubleValue(m_tocLogs->activeLogName(i));
+		response = m_tocLogs->elementForName(m_tocLogs->activeLogName(i), bFound);
+		if(response.timeLastUpdated > currentTime - 0.01) {
+			file_log << "\t" << this->sensorDoubleValue(m_tocLogs->activeLogName(i));
+		}
+		else {
+			file_log << "\t" << std::numeric_limits<double>::quiet_NaN();
+		}
 	}
 	file_log << "\t" << this->sensorDoubleValue("testStand");
 }