diff --git a/ExoMy_Software-master/gui/admin.html b/ExoMy_Software-master/gui/admin.html
index 181d321..5011fea 100644
--- a/ExoMy_Software-master/gui/admin.html
+++ b/ExoMy_Software-master/gui/admin.html
@@ -491,6 +491,7 @@
           <div class="act-grid act-grid_single">
             <button class="act-btn danger full" onclick="runAdminAction('cold-start-gps')">GPS-Kaltstart</button>
             <button class="act-btn warm full" onclick="runAdminAction('restart-gps')">GPS neu starten</button>
+            <button class="act-btn subtle full" onclick="runAdminAction('set-time-from-gps')">Pi-Zeit aus GPS setzen</button>
           </div>
           <div class="sr"><span class="sr-led led-ok"></span><span class="sr-key">Status</span><span id="gps_diag_status" class="sr-val">Offline</span></div>
           <div class="sr"><span class="sr-led led-blue"></span><span class="sr-key">Fix-Qualität</span><span id="gps_diag_fix_quality" class="sr-val">--</span></div>
@@ -2284,6 +2285,7 @@
     var labels = {
       'cold-start-gps': 'GPS-Kaltstart jetzt wirklich auslösen? Danach dauert der neue Fix deutlich länger.',
       'restart-gps': 'GPS-Node jetzt wirklich neu starten?',
+      'set-time-from-gps': 'Pi-Zeit jetzt wirklich aus den aktuellen GPS-Daten setzen?',
       'restart-camera': 'Kameradienst jetzt wirklich neu starten?',
       'restart-container': 'ExoMy-Container jetzt wirklich neu starten?',
       'reboot': 'Raspberry Pi jetzt wirklich neu starten?',
diff --git a/ExoMy_Software-master/gui/app.css b/ExoMy_Software-master/gui/app.css
index 3f24b4b..fd85f45 100644
--- a/ExoMy_Software-master/gui/app.css
+++ b/ExoMy_Software-master/gui/app.css
@@ -398,33 +398,6 @@ body.page-connection-degraded .admin-shell{
   opacity:.9;
 }
 /* ── STAT PANEL ─────────────────────────────────────── */
-.c-track {
-  position: absolute;
-  inset: 0;
-  width: 100%;
-  height: 100%;
-  z-index: 9;
-  pointer-events: none;
-  opacity: .92;
-  transition: opacity .18s ease;
-  filter: drop-shadow(0 0 8px rgba(0,255,145,.18));
-}
-.track-edge,
-.track-center {
-  fill: none;
-  stroke-linecap: round;
-  stroke-linejoin: round;
-}
-.track-edge {
-  stroke: rgba(170,255,225,.88);
-  stroke-width: 1.35;
-  stroke-dasharray: 6 5;
-}
-.track-center {
-  stroke: rgba(0,255,145,.38);
-  stroke-width: .9;
-  stroke-dasharray: 3 6;
-}
 .stat-list {
   display: flex;
   flex-direction: column;
@@ -757,6 +730,31 @@ body.page-connection-degraded .admin-shell{
   background: linear-gradient(180deg, rgba(18,110,76,.96), rgba(6,36,26,.98));
   box-shadow: inset 0 0 16px rgba(170,255,220,.1), 0 0 16px rgba(120,255,205,.18);
 }
+.header-icon-btn {
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  width: 32px;
+  height: 32px;
+  padding: 0;
+  border: 1px solid rgba(120,255,205,.28);
+  background: linear-gradient(180deg, rgba(10,70,48,.82), rgba(4,22,16,.96));
+  box-shadow: inset 0 0 12px rgba(170,255,220,.06), 0 0 10px rgba(120,255,205,.08);
+  color: rgba(245,255,250,.98);
+  cursor: pointer;
+  transition: all .16s ease;
+}
+.header-icon-btn:hover {
+  color: #ffffff;
+  border-color: rgba(180,255,225,.72);
+  background: linear-gradient(180deg, rgba(18,110,76,.96), rgba(6,36,26,.98));
+  box-shadow: inset 0 0 16px rgba(170,255,220,.1), 0 0 16px rgba(120,255,205,.18);
+}
+.header-icon-btn svg {
+  width: 16px;
+  height: 16px;
+  fill: currentColor;
+}
 
 @media (max-width: 767px), (hover: none) and (pointer: coarse) and (max-width: 767px) {
   body { overflow-y: auto; }
@@ -788,6 +786,10 @@ body.page-connection-degraded .admin-shell{
   .hdr-div {
     display: none;
   }
+  .header-icon-btn {
+    width: 28px;
+    height: 28px;
+  }
   .main {
     grid-template-columns: minmax(0, 1.2fr) minmax(260px, 0.8fr);
     gap: 8px;
diff --git a/ExoMy_Software-master/gui/index.html b/ExoMy_Software-master/gui/index.html
index 0ddc9ad..df7cae1 100644
--- a/ExoMy_Software-master/gui/index.html
+++ b/ExoMy_Software-master/gui/index.html
@@ -35,6 +35,13 @@
   <div class="hdr-div"></div>
   <div class="hdr-badge">Mission Ops</div>
   <div class="hdr-gap"></div>
+  <button class="header-icon-btn" id="save-frame-button" type="button" aria-label="Screenshot speichern" title="Screenshot speichern">
+    <svg viewBox="0 0 24 24" aria-hidden="true">
+      <path d="M7 4h7l2 2h3a2 2 0 0 1 2 2v8a4 4 0 0 1-4 4H7a4 4 0 0 1-4-4V8a2 2 0 0 1 2-2h2V4z"></path>
+      <path d="M12 9.2a4.3 4.3 0 1 0 0 8.6a4.3 4.3 0 0 0 0-8.6z"></path>
+      <circle cx="18" cy="9" r="1.2"></circle>
+    </svg>
+  </button>
   <a class="admin-link" href="./admin.html">Admin</a>
   <div class="hdr-div"></div>
   <div class="mission-ok"><div class="pulse-dot"></div><span id="cuno-connection-status">Cuno offline</span></div>
@@ -86,11 +93,6 @@
           V: <span id="overlay-speed">0,0</span> cm/s<br>
           S: <span id="overlay-distance">0,00</span> m
         </div>
-        <svg class="c-track" id="track-overlay" viewBox="0 0 100 100" preserveAspectRatio="none" aria-hidden="true">
-          <path id="track-center" class="track-center" d=""></path>
-          <path id="track-left" class="track-edge" d=""></path>
-          <path id="track-right" class="track-edge" d=""></path>
-        </svg>
         <div class="c-xhair">
           <svg viewBox="-90 -90 180 180" xmlns="http://www.w3.org/2000/svg" width="180" height="180">
             <!-- äußerer rotierender Strichelring -->
@@ -315,10 +317,6 @@ var driveEstimator = {
   motorSpeeds: [0, 0, 0, 0, 0, 0],
   calibrationPoints: []
 };
-var trajectoryOverlay = {
-  steering: 90,
-  velocity: 0
-};
 var pageConnection = {
   apiOk: false,
   apiLastAt: 0,
@@ -477,78 +475,6 @@ function setPath(id, d) {
   if (node) node.setAttribute("d", d || "");
 }
 
-function renderTrajectoryOverlay() {
-  var overlay = document.getElementById("track-overlay");
-  if (!overlay) return;
-
-  var moving = driveEstimator.motorsEnabled && Math.abs(driveEstimator.speedMps) > 0.005;
-  overlay.style.opacity = moving ? "1" : "0.22";
-  var baseX = 50;
-  var baseY = 92;
-  var laneHalf = 9;
-  var topY = 18;
-  var leftStart = baseX - laneHalf;
-  var rightStart = baseX + laneHalf;
-
-  if (!moving) {
-    setPath("track-center", "M " + baseX + " " + baseY + " L " + baseX + " " + topY);
-    setPath("track-left", "M " + leftStart + " " + baseY + " L " + leftStart + " " + topY);
-    setPath("track-right", "M " + rightStart + " " + baseY + " L " + rightStart + " " + topY);
-    return;
-  }
-
-  var mode = driveEstimator.locomotionMode;
-  var steering = Number(trajectoryOverlay.steering || 90);
-  var direction = driveEstimator.speedMps < -0.005 ? -1 : 1;
-
-  if (mode === 3) {
-    var crabOffset = Math.max(-24, Math.min(24, (steering >= 0 ? steering - 90 : steering + 90) * 0.26));
-    setPath("track-center", "M " + baseX + " " + baseY + " L " + (baseX + crabOffset) + " " + topY);
-    setPath("track-left", "M " + (baseX - laneHalf) + " " + baseY + " L " + (baseX - laneHalf + crabOffset) + " " + topY);
-    setPath("track-right", "M " + (baseX + laneHalf) + " " + baseY + " L " + (baseX + laneHalf + crabOffset) + " " + topY);
-    return;
-  }
-
-  if (mode === 2) {
-    var pointTurnRight = steering > 95 || steering < -95;
-    var sweep = pointTurnRight ? 1 : 0;
-    var radiusOuter = 34;
-    var radiusInner = 20;
-    var centerX = pointTurnRight ? 78 : 22;
-    var startLeftX = pointTurnRight ? 40 : 24;
-    var startRightX = pointTurnRight ? 58 : 42;
-    setPath("track-center", "M " + baseX + " " + baseY + " A 27 27 0 0 " + sweep + " " + centerX + " 42");
-    setPath("track-left", "M " + startLeftX + " " + baseY + " A " + radiusOuter + " " + radiusOuter + " 0 0 " + sweep + " " + centerX + " 18");
-    setPath("track-right", "M " + startRightX + " " + baseY + " A " + radiusInner + " " + radiusInner + " 0 0 " + sweep + " " + centerX + " 34");
-    return;
-  }
-
-  var normalizedTurn;
-  if (steering > 90) {
-    normalizedTurn = Math.min(1, (steering - 90) / 90);
-  } else {
-    normalizedTurn = -Math.min(1, (90 - steering) / 90);
-  }
-  normalizedTurn *= direction;
-
-  var endX = baseX + normalizedTurn * 26;
-  var controlY = 58;
-  var controlBias = normalizedTurn * 18;
-  var centerPath = "M " + baseX + " " + baseY + " Q " + (baseX + controlBias * 0.6) + " " + controlY + " " + endX + " " + topY;
-  var leftPath = "M " + leftStart + " " + baseY + " Q " + (leftStart + controlBias) + " " + controlY + " " + (endX - laneHalf) + " " + topY;
-  var rightPath = "M " + rightStart + " " + baseY + " Q " + (rightStart + controlBias) + " " + controlY + " " + (endX + laneHalf) + " " + topY;
-
-  if (Math.abs(normalizedTurn) < 0.04) {
-    centerPath = "M " + baseX + " " + baseY + " L " + baseX + " " + topY;
-    leftPath = "M " + leftStart + " " + baseY + " L " + leftStart + " " + topY;
-    rightPath = "M " + rightStart + " " + baseY + " L " + rightStart + " " + topY;
-  }
-
-  setPath("track-center", centerPath);
-  setPath("track-left", leftPath);
-  setPath("track-right", rightPath);
-}
-
 function fetchDriveEstimatorData() {
   fetch(window.location.protocol + "//" + hostUrl + ":8082/api/drive-estimator/config", {
     cache: "no-store"
@@ -1096,6 +1022,211 @@ function selectDriveMode(mode, buttonIndex) {
   pulseButton(buttonIndex);
 }
 
+function loadImageFromBlob(blob) {
+  return new Promise(function (resolve, reject) {
+    var image = new Image();
+    var objectUrl = URL.createObjectURL(blob);
+    image.onload = function () {
+      URL.revokeObjectURL(objectUrl);
+      resolve(image);
+    };
+    image.onerror = function () {
+      URL.revokeObjectURL(objectUrl);
+      reject(new Error("image"));
+    };
+    image.src = objectUrl;
+  });
+}
+
+function drawOverlayTextBlock(context, lines, x, y, align, lineHeight, color) {
+  context.save();
+  context.textAlign = align || "left";
+  context.textBaseline = "top";
+  context.fillStyle = color;
+  for (var i = 0; i < lines.length; i += 1) {
+    context.fillText(lines[i], x, y + (i * lineHeight));
+  }
+  context.restore();
+}
+
+function drawCrosshairOverlayToCanvas(context, canvasWidth, canvasHeight, size) {
+  var cx = canvasWidth / 2;
+  var cy = canvasHeight / 2;
+  var unit = size / 180;
+
+  function circle(radius, stroke, lineWidth, dash) {
+    context.save();
+    context.beginPath();
+    context.arc(cx, cy, radius * unit, 0, Math.PI * 2);
+    if (dash) context.setLineDash(dash.map(function (value) { return value * unit; }));
+    context.strokeStyle = stroke;
+    context.lineWidth = lineWidth * unit;
+    context.stroke();
+    context.restore();
+  }
+
+  function line(x1, y1, x2, y2, stroke, lineWidth) {
+    context.save();
+    context.beginPath();
+    context.moveTo(cx + (x1 * unit), cy + (y1 * unit));
+    context.lineTo(cx + (x2 * unit), cy + (y2 * unit));
+    context.strokeStyle = stroke;
+    context.lineWidth = lineWidth * unit;
+    context.stroke();
+    context.restore();
+  }
+
+  function path(points, stroke, lineWidth) {
+    context.save();
+    context.beginPath();
+    context.moveTo(cx + (points[0][0] * unit), cy + (points[0][1] * unit));
+    for (var i = 1; i < points.length; i += 1) {
+      context.lineTo(cx + (points[i][0] * unit), cy + (points[i][1] * unit));
+    }
+    context.strokeStyle = stroke;
+    context.lineWidth = lineWidth * unit;
+    context.stroke();
+    context.restore();
+  }
+
+  circle(82, "rgba(0,255,145,.2)", 1, [4, 10]);
+  circle(60, "rgba(0,255,145,.15)", 0.75, [2, 16]);
+  circle(16, "rgba(0,255,145,.3)", 0.75);
+  line(-86, 0, -19, 0, "rgba(0,255,145,.6)", 1);
+  line(19, 0, 86, 0, "rgba(0,255,145,.6)", 1);
+  line(0, -86, 0, -19, "rgba(0,255,145,.6)", 1);
+  line(0, 19, 0, 86, "rgba(0,255,145,.6)", 1);
+  line(-60, -6, -60, 6, "rgba(0,255,145,.45)", 0.75);
+  line(60, -6, 60, 6, "rgba(0,255,145,.45)", 0.75);
+  line(-6, -60, 6, -60, "rgba(0,255,145,.45)", 0.75);
+  line(-6, 60, 6, 60, "rgba(0,255,145,.45)", 0.75);
+  line(-38, -3.5, -38, 3.5, "rgba(0,255,145,.3)", 0.5);
+  line(38, -3.5, 38, 3.5, "rgba(0,255,145,.3)", 0.5);
+  line(-3.5, -38, 3.5, -38, "rgba(0,255,145,.3)", 0.5);
+  line(-3.5, 38, 3.5, 38, "rgba(0,255,145,.3)", 0.5);
+  path([[-74, -58], [-74, -74], [-58, -74]], "rgba(0,255,145,.75)", 1.5);
+  path([[58, -74], [74, -74], [74, -58]], "rgba(0,255,145,.75)", 1.5);
+  path([[-74, 58], [-74, 74], [-58, 74]], "rgba(0,255,145,.75)", 1.5);
+  path([[58, 74], [74, 74], [74, 58]], "rgba(0,255,145,.75)", 1.5);
+  circle(6, "rgba(0,255,145,.7)", 1);
+
+  context.save();
+  context.beginPath();
+  context.arc(cx, cy, 2.5 * unit, 0, Math.PI * 2);
+  context.fillStyle = "rgba(0,255,145,.9)";
+  context.fill();
+  context.beginPath();
+  context.arc(cx, cy, 1 * unit, 0, Math.PI * 2);
+  context.fillStyle = "rgba(255,255,255,.7)";
+  context.fill();
+  context.restore();
+}
+
+function drawVignetteAndScanlines(context, canvasWidth, canvasHeight) {
+  context.save();
+  for (var y = 0; y < canvasHeight; y += 4) {
+    context.fillStyle = "rgba(0,255,145,.012)";
+    context.fillRect(0, y, canvasWidth, 1);
+  }
+  var vignette = context.createRadialGradient(
+    canvasWidth * 0.5, canvasHeight * 0.5, canvasWidth * 0.25,
+    canvasWidth * 0.5, canvasHeight * 0.5, canvasWidth * 0.75
+  );
+  vignette.addColorStop(0, "rgba(0,0,0,0)");
+  vignette.addColorStop(1, "rgba(0,0,0,.58)");
+  context.fillStyle = vignette;
+  context.fillRect(0, 0, canvasWidth, canvasHeight);
+  context.restore();
+}
+
+function drawHudOverlayToCanvas(context, canvasWidth, canvasHeight) {
+  var frame = document.getElementById("video_frame");
+  var scaleValue = frame ? parseFloat(getComputedStyle(frame).getPropertyValue("--cam-scale")) : 1;
+  var camScale = isFinite(scaleValue) && scaleValue > 0 ? scaleValue : 1;
+  var frameWidth = frame ? frame.clientWidth : canvasWidth;
+  var scaleToCanvas = frameWidth ? (canvasWidth / frameWidth) : 1;
+  var padding = 13 * camScale * scaleToCanvas;
+  var fontSize = 9 * camScale * scaleToCanvas;
+  var lineHeight = fontSize * 1.9;
+  var hudColor = "rgba(0,255,145,.72)";
+
+  context.save();
+  context.font = fontSize + 'px "IBM Plex Mono", "Roboto Mono", monospace';
+  context.fillStyle = hudColor;
+
+  drawOverlayTextBlock(context, [
+    "CAM: " + document.getElementById("cam-state").textContent,
+    "MODE: " + document.getElementById("overlay-mode").textContent
+  ], padding, padding, "left", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "ROS: " + document.getElementById("ros-state").textContent,
+    "CTRL: " + document.getElementById("input-state").textContent
+  ], canvasWidth - padding, padding, "right", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "GPS: " + document.getElementById("gps-state").textContent,
+    "POS: " + document.getElementById("gps-accuracy").textContent,
+    "LAT: " + document.getElementById("gps-lat").textContent,
+    "LON: " + document.getElementById("gps-lon").textContent
+  ], padding, canvasHeight - padding - (lineHeight * 4), "left", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "HOST: " + document.getElementById("cam-host").textContent,
+    "STREAM: 8083"
+  ], canvasWidth - padding, canvasHeight - padding - (lineHeight * 2), "right", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "V: " + document.getElementById("overlay-speed").textContent + " cm/s",
+    "S: " + document.getElementById("overlay-distance").textContent + " m"
+  ], canvasWidth / 2, canvasHeight - padding - (lineHeight * 2), "center", lineHeight, hudColor);
+
+  var recY = padding + (fontSize * 0.55);
+  context.beginPath();
+  context.arc((canvasWidth / 2) - (18 * camScale * scaleToCanvas), recY, 3 * camScale * scaleToCanvas, 0, Math.PI * 2);
+  context.fillStyle = document.getElementById("cam-live-indicator").classList.contains("is-offline")
+    ? "rgba(170,255,220,.72)"
+    : "#FF3333";
+  context.fill();
+  context.fillStyle = hudColor;
+  context.textAlign = "center";
+  context.fillText(document.getElementById("cam-live-text").textContent, canvasWidth / 2 + (6 * camScale * scaleToCanvas), padding);
+  context.restore();
+
+  drawCrosshairOverlayToCanvas(context, canvasWidth, canvasHeight, 180 * camScale * scaleToCanvas);
+  drawVignetteAndScanlines(context, canvasWidth, canvasHeight);
+}
+
+async function saveCurrentFrame() {
+  try {
+    var response = await fetch("//" + hostUrl + ":8083/snapshot.jpg?t=" + Date.now(), {
+      cache: "no-store"
+    });
+    if (!response.ok) {
+      throw new Error("snapshot");
+    }
+    var blob = await response.blob();
+    var image = await loadImageFromBlob(blob);
+    var canvas = document.createElement("canvas");
+    canvas.width = image.naturalWidth || image.width;
+    canvas.height = image.naturalHeight || image.height;
+    var context = canvas.getContext("2d");
+    if (!context) {
+      throw new Error("canvas");
+    }
+    context.drawImage(image, 0, 0, canvas.width, canvas.height);
+    drawHudOverlayToCanvas(context, canvas.width, canvas.height);
+    var link = document.createElement("a");
+    var timestamp = new Date().toISOString().replace(/[:.]/g, "-");
+    var objectUrl = canvas.toDataURL("image/jpeg", 0.95);
+    link.href = objectUrl;
+    link.download = "exomy-" + timestamp + ".jpg";
+    document.body.appendChild(link);
+    link.click();
+    document.body.removeChild(link);
+  } catch (error) {}
+}
+
 function toggleMotors() {
   if (controlsAreBlocked()) {
     return;
@@ -1281,12 +1412,10 @@ window.addEventListener("load", function () {
   setPageConnectionState();
   fetchDriveEstimatorData();
   renderDriveEstimatorOverlay();
-  renderTrajectoryOverlay();
   statusTimer = window.setInterval(fetchSystemStatus, 5000);
   window.setInterval(refreshRosSocketState, 1000);
   window.setInterval(setPageConnectionState, 1000);
   window.setInterval(renderDriveEstimatorOverlay, 250);
-  window.setInterval(renderTrajectoryOverlay, 250);
 
   var video = document.getElementById("video_output");
   reloadCameraStream();
@@ -1383,11 +1512,8 @@ window.addEventListener("load", function () {
     motorsEnabled = !!message.motors_enabled;
     driveEstimator.motorsEnabled = !!message.motors_enabled;
     driveEstimator.locomotionMode = Number(message.locomotion_mode);
-    trajectoryOverlay.steering = Number(message.steering || 90);
-    trajectoryOverlay.velocity = Number(message.vel || 0);
     updateMotorDisplay();
     renderDriveEstimatorOverlay();
-    renderTrajectoryOverlay();
   });
 
   motorCommandsListener = new ROSLIB.Topic({
@@ -1401,7 +1527,6 @@ window.addEventListener("load", function () {
     setRosStatus("Verbunden");
     driveEstimator.motorSpeeds = Array.isArray(message.motor_speeds) ? message.motor_speeds.map(Number) : [0, 0, 0, 0, 0, 0];
     renderDriveEstimatorOverlay();
-    renderTrajectoryOverlay();
   });
 
   gpsFixListener = new ROSLIB.Topic({
@@ -1449,6 +1574,8 @@ window.addEventListener("load", function () {
     });
   });
 
+  document.getElementById("save-frame-button").addEventListener("click", saveCurrentFrame);
+
   document.getElementById("motor-toggle").addEventListener("click", toggleMotors);
 
   document.getElementById("mt-joy").addEventListener("click", function () {
diff --git a/ExoMy_Software-master/scripts/exomy_admin_api.py b/ExoMy_Software-master/scripts/exomy_admin_api.py
index a7c07e4..1cae1a4 100644
--- a/ExoMy_Software-master/scripts/exomy_admin_api.py
+++ b/ExoMy_Software-master/scripts/exomy_admin_api.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import datetime
 import errno
 import fcntl
 import glob
@@ -12,6 +13,7 @@ import subprocess
 import termios
 import threading
 import time
+from zoneinfo import ZoneInfo
 
 PORT = 8082
 EXOMY_CONTAINER = 'exomy_autostart'
@@ -606,6 +608,74 @@ def cold_start_gps_receiver():
     return device_path
 
 
+def read_gps_diagnostics_from_ros():
+    command = [
+        'docker', 'exec', EXOMY_CONTAINER, 'bash', '-lc',
+        "source /opt/ros/melodic/setup.bash && "
+        "source /root/exomy_ws/devel/setup.bash && "
+        "timeout 8s rostopic echo -n 1 /gps/diagnostics_json"
+    ]
+    stdout, stderr, returncode = run_command(command)
+    if returncode != 0 or not stdout:
+        raise RuntimeError('Keine GPS-Diagnosedaten verfügbar')
+
+    raw_text = stdout.strip()
+    lines = [line.strip() for line in raw_text.splitlines() if line.strip()]
+    if not lines:
+        raise RuntimeError('GPS-Diagnosedaten sind leer')
+
+    if lines[0].startswith('data:'):
+        payload_text = lines[0][5:].strip()
+        if payload_text.startswith("'") and payload_text.endswith("'"):
+            payload_text = payload_text[1:-1]
+        payload_text = payload_text.encode('utf-8').decode('unicode_escape')
+    else:
+        payload_text = lines[0]
+
+    try:
+        return json.loads(payload_text)
+    except json.JSONDecodeError as exc:
+        raise RuntimeError(f'GPS-Diagnosedaten konnten nicht gelesen werden: {exc}')
+
+
+def parse_gps_datetime():
+    diagnostics = read_gps_diagnostics_from_ros()
+    utc_date = str(diagnostics.get('utc_date') or '').strip()
+    utc_time = str(diagnostics.get('utc_time') or '').strip()
+    if not utc_date or not utc_time:
+        raise RuntimeError('GPS liefert aktuell keine UTC-Zeit')
+
+    combined = f'{utc_date} {utc_time}'
+    for pattern in ('%Y-%m-%d %H:%M:%S.%f', '%Y-%m-%d %H:%M:%S'):
+        try:
+            return datetime.datetime.strptime(combined, pattern)
+        except ValueError:
+            continue
+    raise RuntimeError(f'GPS-Zeitformat unbekannt: {combined}')
+
+
+def get_local_timezone():
+    try:
+        with open('/etc/timezone', 'r', encoding='utf-8') as handle:
+            timezone_name = handle.read().strip()
+        if timezone_name:
+            return ZoneInfo(timezone_name)
+    except (FileNotFoundError, OSError, ValueError):
+        pass
+    return datetime.datetime.now().astimezone().tzinfo or datetime.timezone.utc
+
+
+def set_system_time_from_gps():
+    gps_dt = parse_gps_datetime()
+    gps_utc = gps_dt.replace(tzinfo=datetime.timezone.utc)
+    local_time = gps_utc.astimezone(get_local_timezone())
+    time_text = local_time.strftime('%Y-%m-%d %H:%M:%S')
+    stdout, stderr, returncode = run_command(['timedatectl', 'set-time', time_text])
+    if returncode != 0:
+        raise RuntimeError(stderr or stdout or 'Systemzeit konnte nicht gesetzt werden')
+    return time_text
+
+
 def stop_exomy_container():
     stdout, _, returncode = run_command(['docker', 'stop', '-t', '2', EXOMY_CONTAINER])
     return returncode == 0, stdout
@@ -1420,6 +1490,10 @@ class Handler(http.server.BaseHTTPRequestHandler):
                 'handler': restart_gps_node,
                 'status': 'GPS-Node wird neu gestartet'
             },
+            '/api/set-time-from-gps': {
+                'handler': set_system_time_from_gps,
+                'status': 'Pi-Zeit wird aus GPS gesetzt'
+            },
             '/api/restart-camera': {
                 'handler': restart_camera_service,
                 'status': 'Kameradienst wird neu gestartet'
diff --git a/ExoMy_Software-master/scripts/video_delay_proxy.py b/ExoMy_Software-master/scripts/video_delay_proxy.py
index 8f06123..630a702 100644
--- a/ExoMy_Software-master/scripts/video_delay_proxy.py
+++ b/ExoMy_Software-master/scripts/video_delay_proxy.py
@@ -98,13 +98,30 @@ class Handler(http.server.BaseHTTPRequestHandler):
         return urllib.parse.urlsplit(self.path).path
 
     def do_GET(self):
-        if self.normalized_path() != '/stream.mjpg':
+        path = self.normalized_path()
+        if path == '/snapshot.jpg':
+            frame = get_delayed_frame()
+            if frame is None:
+                self.send_error(503)
+                return
+            self.send_response(200)
+            self.send_header('Cache-Control', 'no-cache, private')
+            self.send_header('Pragma', 'no-cache')
+            self.send_header('Access-Control-Allow-Origin', '*')
+            self.send_header('Content-Type', 'image/jpeg')
+            self.send_header('Content-Length', str(len(frame)))
+            self.end_headers()
+            self.wfile.write(frame)
+            return
+
+        if path != '/stream.mjpg':
             self.send_error(404)
             return
         self.send_response(200)
         self.send_header('Age', '0')
         self.send_header('Cache-Control', 'no-cache, private')
         self.send_header('Pragma', 'no-cache')
+        self.send_header('Access-Control-Allow-Origin', '*')
         self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=frame')
         self.end_headers()
         fps = 10
diff --git a/index_upload_tmp.html b/index_upload_tmp.html
index df16a2f..4820f21 100644
--- a/index_upload_tmp.html
+++ b/index_upload_tmp.html
@@ -35,6 +35,13 @@
   <div class="hdr-div"></div>
   <div class="hdr-badge">Mission Ops</div>
   <div class="hdr-gap"></div>
+  <button class="header-icon-btn" id="save-frame-button" type="button" aria-label="Screenshot speichern" title="Screenshot speichern">
+    <svg viewBox="0 0 24 24" aria-hidden="true">
+      <path d="M7 4h7l2 2h3a2 2 0 0 1 2 2v8a4 4 0 0 1-4 4H7a4 4 0 0 1-4-4V8a2 2 0 0 1 2-2h2V4z"></path>
+      <path d="M12 9.2a4.3 4.3 0 1 0 0 8.6a4.3 4.3 0 0 0 0-8.6z"></path>
+      <circle cx="18" cy="9" r="1.2"></circle>
+    </svg>
+  </button>
   <a class="admin-link" href="./admin.html">Admin</a>
   <div class="hdr-div"></div>
   <div class="mission-ok"><div class="pulse-dot"></div><span id="cuno-connection-status">Cuno offline</span></div>
@@ -86,11 +93,6 @@
           V: <span id="overlay-speed">0,0</span> cm/s<br>
           S: <span id="overlay-distance">0,00</span> m
         </div>
-        <svg class="c-track" id="track-overlay" viewBox="0 0 100 100" preserveAspectRatio="none" aria-hidden="true">
-          <path id="track-center" class="track-center" d=""></path>
-          <path id="track-left" class="track-edge" d=""></path>
-          <path id="track-right" class="track-edge" d=""></path>
-        </svg>
         <div class="c-xhair">
           <svg viewBox="-90 -90 180 180" xmlns="http://www.w3.org/2000/svg" width="180" height="180">
             <!-- äußerer rotierender Strichelring -->
@@ -315,10 +317,6 @@ var driveEstimator = {
   motorSpeeds: [0, 0, 0, 0, 0, 0],
   calibrationPoints: []
 };
-var trajectoryOverlay = {
-  steering: 90,
-  velocity: 0
-};
 var pageConnection = {
   apiOk: false,
   apiLastAt: 0,
@@ -477,78 +475,6 @@ function setPath(id, d) {
   if (node) node.setAttribute("d", d || "");
 }
 
-function renderTrajectoryOverlay() {
-  var overlay = document.getElementById("track-overlay");
-  if (!overlay) return;
-
-  var moving = driveEstimator.motorsEnabled && Math.abs(driveEstimator.speedMps) > 0.005;
-  overlay.style.opacity = moving ? "1" : "0.22";
-  var baseX = 50;
-  var baseY = 92;
-  var laneHalf = 9;
-  var topY = 18;
-  var leftStart = baseX - laneHalf;
-  var rightStart = baseX + laneHalf;
-
-  if (!moving) {
-    setPath("track-center", "M " + baseX + " " + baseY + " L " + baseX + " " + topY);
-    setPath("track-left", "M " + leftStart + " " + baseY + " L " + leftStart + " " + topY);
-    setPath("track-right", "M " + rightStart + " " + baseY + " L " + rightStart + " " + topY);
-    return;
-  }
-
-  var mode = driveEstimator.locomotionMode;
-  var steering = Number(trajectoryOverlay.steering || 90);
-  var direction = driveEstimator.speedMps < -0.005 ? -1 : 1;
-
-  if (mode === 3) {
-    var crabOffset = Math.max(-24, Math.min(24, (steering >= 0 ? steering - 90 : steering + 90) * 0.26));
-    setPath("track-center", "M " + baseX + " " + baseY + " L " + (baseX + crabOffset) + " " + topY);
-    setPath("track-left", "M " + (baseX - laneHalf) + " " + baseY + " L " + (baseX - laneHalf + crabOffset) + " " + topY);
-    setPath("track-right", "M " + (baseX + laneHalf) + " " + baseY + " L " + (baseX + laneHalf + crabOffset) + " " + topY);
-    return;
-  }
-
-  if (mode === 2) {
-    var pointTurnRight = steering > 95 || steering < -95;
-    var sweep = pointTurnRight ? 1 : 0;
-    var radiusOuter = 34;
-    var radiusInner = 20;
-    var centerX = pointTurnRight ? 78 : 22;
-    var startLeftX = pointTurnRight ? 40 : 24;
-    var startRightX = pointTurnRight ? 58 : 42;
-    setPath("track-center", "M " + baseX + " " + baseY + " A 27 27 0 0 " + sweep + " " + centerX + " 42");
-    setPath("track-left", "M " + startLeftX + " " + baseY + " A " + radiusOuter + " " + radiusOuter + " 0 0 " + sweep + " " + centerX + " 18");
-    setPath("track-right", "M " + startRightX + " " + baseY + " A " + radiusInner + " " + radiusInner + " 0 0 " + sweep + " " + centerX + " 34");
-    return;
-  }
-
-  var normalizedTurn;
-  if (steering > 90) {
-    normalizedTurn = Math.min(1, (steering - 90) / 90);
-  } else {
-    normalizedTurn = -Math.min(1, (90 - steering) / 90);
-  }
-  normalizedTurn *= direction;
-
-  var endX = baseX + normalizedTurn * 26;
-  var controlY = 58;
-  var controlBias = normalizedTurn * 18;
-  var centerPath = "M " + baseX + " " + baseY + " Q " + (baseX + controlBias * 0.6) + " " + controlY + " " + endX + " " + topY;
-  var leftPath = "M " + leftStart + " " + baseY + " Q " + (leftStart + controlBias) + " " + controlY + " " + (endX - laneHalf) + " " + topY;
-  var rightPath = "M " + rightStart + " " + baseY + " Q " + (rightStart + controlBias) + " " + controlY + " " + (endX + laneHalf) + " " + topY;
-
-  if (Math.abs(normalizedTurn) < 0.04) {
-    centerPath = "M " + baseX + " " + baseY + " L " + baseX + " " + topY;
-    leftPath = "M " + leftStart + " " + baseY + " L " + leftStart + " " + topY;
-    rightPath = "M " + rightStart + " " + baseY + " L " + rightStart + " " + topY;
-  }
-
-  setPath("track-center", centerPath);
-  setPath("track-left", leftPath);
-  setPath("track-right", rightPath);
-}
-
 function fetchDriveEstimatorData() {
   fetch(window.location.protocol + "//" + hostUrl + ":8082/api/drive-estimator/config", {
     cache: "no-store"
@@ -1096,6 +1022,211 @@ function selectDriveMode(mode, buttonIndex) {
   pulseButton(buttonIndex);
 }
 
+function loadImageFromBlob(blob) {
+  return new Promise(function (resolve, reject) {
+    var image = new Image();
+    var objectUrl = URL.createObjectURL(blob);
+    image.onload = function () {
+      URL.revokeObjectURL(objectUrl);
+      resolve(image);
+    };
+    image.onerror = function () {
+      URL.revokeObjectURL(objectUrl);
+      reject(new Error("image"));
+    };
+    image.src = objectUrl;
+  });
+}
+
+function drawOverlayTextBlock(context, lines, x, y, align, lineHeight, color) {
+  context.save();
+  context.textAlign = align || "left";
+  context.textBaseline = "top";
+  context.fillStyle = color;
+  for (var i = 0; i < lines.length; i += 1) {
+    context.fillText(lines[i], x, y + (i * lineHeight));
+  }
+  context.restore();
+}
+
+function drawCrosshairOverlayToCanvas(context, canvasWidth, canvasHeight, size) {
+  var cx = canvasWidth / 2;
+  var cy = canvasHeight / 2;
+  var unit = size / 180;
+
+  function circle(radius, stroke, lineWidth, dash) {
+    context.save();
+    context.beginPath();
+    context.arc(cx, cy, radius * unit, 0, Math.PI * 2);
+    if (dash) context.setLineDash(dash.map(function (value) { return value * unit; }));
+    context.strokeStyle = stroke;
+    context.lineWidth = lineWidth * unit;
+    context.stroke();
+    context.restore();
+  }
+
+  function line(x1, y1, x2, y2, stroke, lineWidth) {
+    context.save();
+    context.beginPath();
+    context.moveTo(cx + (x1 * unit), cy + (y1 * unit));
+    context.lineTo(cx + (x2 * unit), cy + (y2 * unit));
+    context.strokeStyle = stroke;
+    context.lineWidth = lineWidth * unit;
+    context.stroke();
+    context.restore();
+  }
+
+  function path(points, stroke, lineWidth) {
+    context.save();
+    context.beginPath();
+    context.moveTo(cx + (points[0][0] * unit), cy + (points[0][1] * unit));
+    for (var i = 1; i < points.length; i += 1) {
+      context.lineTo(cx + (points[i][0] * unit), cy + (points[i][1] * unit));
+    }
+    context.strokeStyle = stroke;
+    context.lineWidth = lineWidth * unit;
+    context.stroke();
+    context.restore();
+  }
+
+  circle(82, "rgba(0,255,145,.2)", 1, [4, 10]);
+  circle(60, "rgba(0,255,145,.15)", 0.75, [2, 16]);
+  circle(16, "rgba(0,255,145,.3)", 0.75);
+  line(-86, 0, -19, 0, "rgba(0,255,145,.6)", 1);
+  line(19, 0, 86, 0, "rgba(0,255,145,.6)", 1);
+  line(0, -86, 0, -19, "rgba(0,255,145,.6)", 1);
+  line(0, 19, 0, 86, "rgba(0,255,145,.6)", 1);
+  line(-60, -6, -60, 6, "rgba(0,255,145,.45)", 0.75);
+  line(60, -6, 60, 6, "rgba(0,255,145,.45)", 0.75);
+  line(-6, -60, 6, -60, "rgba(0,255,145,.45)", 0.75);
+  line(-6, 60, 6, 60, "rgba(0,255,145,.45)", 0.75);
+  line(-38, -3.5, -38, 3.5, "rgba(0,255,145,.3)", 0.5);
+  line(38, -3.5, 38, 3.5, "rgba(0,255,145,.3)", 0.5);
+  line(-3.5, -38, 3.5, -38, "rgba(0,255,145,.3)", 0.5);
+  line(-3.5, 38, 3.5, 38, "rgba(0,255,145,.3)", 0.5);
+  path([[-74, -58], [-74, -74], [-58, -74]], "rgba(0,255,145,.75)", 1.5);
+  path([[58, -74], [74, -74], [74, -58]], "rgba(0,255,145,.75)", 1.5);
+  path([[-74, 58], [-74, 74], [-58, 74]], "rgba(0,255,145,.75)", 1.5);
+  path([[58, 74], [74, 74], [74, 58]], "rgba(0,255,145,.75)", 1.5);
+  circle(6, "rgba(0,255,145,.7)", 1);
+
+  context.save();
+  context.beginPath();
+  context.arc(cx, cy, 2.5 * unit, 0, Math.PI * 2);
+  context.fillStyle = "rgba(0,255,145,.9)";
+  context.fill();
+  context.beginPath();
+  context.arc(cx, cy, 1 * unit, 0, Math.PI * 2);
+  context.fillStyle = "rgba(255,255,255,.7)";
+  context.fill();
+  context.restore();
+}
+
+function drawVignetteAndScanlines(context, canvasWidth, canvasHeight) {
+  context.save();
+  for (var y = 0; y < canvasHeight; y += 4) {
+    context.fillStyle = "rgba(0,255,145,.012)";
+    context.fillRect(0, y, canvasWidth, 1);
+  }
+  var vignette = context.createRadialGradient(
+    canvasWidth * 0.5, canvasHeight * 0.5, canvasWidth * 0.25,
+    canvasWidth * 0.5, canvasHeight * 0.5, canvasWidth * 0.75
+  );
+  vignette.addColorStop(0, "rgba(0,0,0,0)");
+  vignette.addColorStop(1, "rgba(0,0,0,.58)");
+  context.fillStyle = vignette;
+  context.fillRect(0, 0, canvasWidth, canvasHeight);
+  context.restore();
+}
+
+function drawHudOverlayToCanvas(context, canvasWidth, canvasHeight) {
+  var frame = document.getElementById("video_frame");
+  var scaleValue = frame ? parseFloat(getComputedStyle(frame).getPropertyValue("--cam-scale")) : 1;
+  var camScale = isFinite(scaleValue) && scaleValue > 0 ? scaleValue : 1;
+  var frameWidth = frame ? frame.clientWidth : canvasWidth;
+  var scaleToCanvas = frameWidth ? (canvasWidth / frameWidth) : 1;
+  var padding = 13 * camScale * scaleToCanvas;
+  var fontSize = 9 * camScale * scaleToCanvas;
+  var lineHeight = fontSize * 1.9;
+  var hudColor = "rgba(0,255,145,.72)";
+
+  context.save();
+  context.font = fontSize + 'px "IBM Plex Mono", "Roboto Mono", monospace';
+  context.fillStyle = hudColor;
+
+  drawOverlayTextBlock(context, [
+    "CAM: " + document.getElementById("cam-state").textContent,
+    "MODE: " + document.getElementById("overlay-mode").textContent
+  ], padding, padding, "left", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "ROS: " + document.getElementById("ros-state").textContent,
+    "CTRL: " + document.getElementById("input-state").textContent
+  ], canvasWidth - padding, padding, "right", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "GPS: " + document.getElementById("gps-state").textContent,
+    "POS: " + document.getElementById("gps-accuracy").textContent,
+    "LAT: " + document.getElementById("gps-lat").textContent,
+    "LON: " + document.getElementById("gps-lon").textContent
+  ], padding, canvasHeight - padding - (lineHeight * 4), "left", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "HOST: " + document.getElementById("cam-host").textContent,
+    "STREAM: 8083"
+  ], canvasWidth - padding, canvasHeight - padding - (lineHeight * 2), "right", lineHeight, hudColor);
+
+  drawOverlayTextBlock(context, [
+    "V: " + document.getElementById("overlay-speed").textContent + " cm/s",
+    "S: " + document.getElementById("overlay-distance").textContent + " m"
+  ], canvasWidth / 2, canvasHeight - padding - (lineHeight * 2), "center", lineHeight, hudColor);
+
+  var recY = padding + (fontSize * 0.55);
+  context.beginPath();
+  context.arc((canvasWidth / 2) - (18 * camScale * scaleToCanvas), recY, 3 * camScale * scaleToCanvas, 0, Math.PI * 2);
+  context.fillStyle = document.getElementById("cam-live-indicator").classList.contains("is-offline")
+    ? "rgba(170,255,220,.72)"
+    : "#FF3333";
+  context.fill();
+  context.fillStyle = hudColor;
+  context.textAlign = "center";
+  context.fillText(document.getElementById("cam-live-text").textContent, canvasWidth / 2 + (6 * camScale * scaleToCanvas), padding);
+  context.restore();
+
+  drawCrosshairOverlayToCanvas(context, canvasWidth, canvasHeight, 180 * camScale * scaleToCanvas);
+  drawVignetteAndScanlines(context, canvasWidth, canvasHeight);
+}
+
+async function saveCurrentFrame() {
+  try {
+    var response = await fetch("//" + hostUrl + ":8083/snapshot.jpg?t=" + Date.now(), {
+      cache: "no-store"
+    });
+    if (!response.ok) {
+      throw new Error("snapshot");
+    }
+    var blob = await response.blob();
+    var image = await loadImageFromBlob(blob);
+    var canvas = document.createElement("canvas");
+    canvas.width = image.naturalWidth || image.width;
+    canvas.height = image.naturalHeight || image.height;
+    var context = canvas.getContext("2d");
+    if (!context) {
+      throw new Error("canvas");
+    }
+    context.drawImage(image, 0, 0, canvas.width, canvas.height);
+    drawHudOverlayToCanvas(context, canvas.width, canvas.height);
+    var link = document.createElement("a");
+    var timestamp = new Date().toISOString().replace(/[:.]/g, "-");
+    var objectUrl = canvas.toDataURL("image/jpeg", 0.95);
+    link.href = objectUrl;
+    link.download = "exomy-" + timestamp + ".jpg";
+    document.body.appendChild(link);
+    link.click();
+    document.body.removeChild(link);
+  } catch (error) {}
+}
+
 function toggleMotors() {
   if (controlsAreBlocked()) {
     return;
@@ -1281,12 +1412,10 @@ window.addEventListener("load", function () {
   setPageConnectionState();
   fetchDriveEstimatorData();
   renderDriveEstimatorOverlay();
-  renderTrajectoryOverlay();
   statusTimer = window.setInterval(fetchSystemStatus, 5000);
   window.setInterval(refreshRosSocketState, 1000);
   window.setInterval(setPageConnectionState, 1000);
   window.setInterval(renderDriveEstimatorOverlay, 250);
-  window.setInterval(renderTrajectoryOverlay, 250);
 
   var video = document.getElementById("video_output");
   reloadCameraStream();
@@ -1383,11 +1512,8 @@ window.addEventListener("load", function () {
     motorsEnabled = !!message.motors_enabled;
     driveEstimator.motorsEnabled = !!message.motors_enabled;
     driveEstimator.locomotionMode = Number(message.locomotion_mode);
-    trajectoryOverlay.steering = Number(message.steering || 90);
-    trajectoryOverlay.velocity = Number(message.vel || 0);
     updateMotorDisplay();
     renderDriveEstimatorOverlay();
-    renderTrajectoryOverlay();
   });
 
   motorCommandsListener = new ROSLIB.Topic({
@@ -1401,7 +1527,6 @@ window.addEventListener("load", function () {
     setRosStatus("Verbunden");
     driveEstimator.motorSpeeds = Array.isArray(message.motor_speeds) ? message.motor_speeds.map(Number) : [0, 0, 0, 0, 0, 0];
     renderDriveEstimatorOverlay();
-    renderTrajectoryOverlay();
   });
 
   gpsFixListener = new ROSLIB.Topic({
@@ -1449,6 +1574,8 @@ window.addEventListener("load", function () {
     });
   });
 
+  document.getElementById("save-frame-button").addEventListener("click", saveCurrentFrame);
+
   document.getElementById("motor-toggle").addEventListener("click", toggleMotors);
 
   document.getElementById("mt-joy").addEventListener("click", function () {