diff --git a/bsp_q7s/devices/StarTrackerImageHelper.cpp b/bsp_q7s/devices/StarTrackerImageHelper.cpp
index c225e3b9..3fb62b99 100644
--- a/bsp_q7s/devices/StarTrackerImageHelper.cpp
+++ b/bsp_q7s/devices/StarTrackerImageHelper.cpp
@@ -195,10 +195,30 @@ void StarTrackerImageHelper::stepSuccessfulReceived(ActionId_t actionId,
 
 void StarTrackerImageHelper::stepFailedReceived(ActionId_t actionId, uint8_t step,
         ReturnValue_t returnCode) {
+    switch (pendingCommand) {
+    case (StarTracker::UPLOAD_IMAGE):
+            if (retries < MAX_RETRIES) {
+                // Repeat sending last command
+                commandsSent--;
+                remainingCommands++;
+                commandImageUpload();
+                retries++;
+                state = State::COMMAND_EXECUTING;
+            }
+            else {
+                triggerEvent(IMAGE_UPLOAD_FAILED, returnCode, commandsSent);
+                retries = 0;
+                state = State::IDLE;
+            }
+        break;
+    default:
+        sif::debug << "StarTrackerImageHelper::completionSuccessfulReceived: Invalid pending command"
+                << std::endl;
+        break;
+    }
 }
 
 void StarTrackerImageHelper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
-
 }
 
 void StarTrackerImageHelper::completionSuccessfulReceived(ActionId_t actionId) {
@@ -225,7 +245,7 @@ void StarTrackerImageHelper::completionFailedReceived(ActionId_t actionId,
         ReturnValue_t returnCode) {
     switch(pendingCommand) {
     case(StarTracker::UPLOAD_IMAGE): {
-        triggerEvent(IMAGE_UPLOAD_FAILED);
+        triggerEvent(IMAGE_UPLOAD_FAILED, returnCode, commandsSent);
         break;
     }
     default:
@@ -240,7 +260,7 @@ void StarTrackerImageHelper::commandImageUpload() {
     ReturnValue_t result = RETURN_OK;
     uint16_t dataLen = 0;
     uint8_t tmpCommandBuffer[UPLOAD_COMMAND_SIZE] = {0};
-    uint32_t position = commandsSent * SIZE_IMAGE_PART;
+    uint32_t position = commandsSent;
 
     if (not std::filesystem::exists(imageFile)) {
         triggerEvent(IMAGE_FILE_NOT_EXISTS, commandsSent);
diff --git a/bsp_q7s/devices/StarTrackerImageHelper.h b/bsp_q7s/devices/StarTrackerImageHelper.h
index 59dc7b83..420721dc 100644
--- a/bsp_q7s/devices/StarTrackerImageHelper.h
+++ b/bsp_q7s/devices/StarTrackerImageHelper.h
@@ -72,13 +72,14 @@ private:
     //! P1: Return value of CommandActionHelper::commandAction
     //! P2: Action ID of command to send
     static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
-    //! [EXPORT] : [COMMENT] Star tracker handler replies with completion failure message to upload image command
-    //! P1: Upload step of the failed command execution
+    //! [EXPORT] : [COMMENT] Star tracker handler replies with completion or step failure message to upload image command
+    //!P1: Return code of execution/step failure message
+    //!P2: Failed upload step (equal to number of commands already sent)
     static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(2, severity::LOW);
     //! [EXPORT] : [COMMENT] Image upload was successful
     static const Event IMAGE_UPLOAD_FINISHED = MAKE_EVENT(3, severity::LOW);
 
-
+    static const uint8_t MAX_RETRIES = 3;
     static const uint32_t QUEUE_SIZE = config::STR_IMG_HELPER_QUEUE_SIZE;
     static const size_t MAX_STR_IMAGE_PATH = 50;
     static const size_t SD_PREFIX_LENGTH = 8;
@@ -108,6 +109,8 @@ private:
 
     uint32_t commandsSent = 0;
     uint32_t remainingCommands = 0;
+    // Counts retries when command was rejected by star tracker
+    uint8_t retries = 0;
 
     // Path and name of active image (either upload or download image)
     std::string imageFile;
diff --git a/mission/devices/StarTrackerHandler.cpp b/mission/devices/StarTrackerHandler.cpp
index 0b2048c0..ed5f5e56 100644
--- a/mission/devices/StarTrackerHandler.cpp
+++ b/mission/devices/StarTrackerHandler.cpp
@@ -604,12 +604,13 @@ ReturnValue_t StarTrackerHandler::handleUploadImageReply() {
     if (result != RETURN_OK) {
         return result;
     }
-    uint32_t position = deserializeUint32(decodedFrame + ACTION_DATA_OFFSET);
-    if (position != rememberUploadPosition) {
-        sif::warning << "StarTrackerHandler::handleUploadImageReply: Invalid position"
-                << std::endl;
-        return UPLOAD_IMAGE_FAILED;
-    }
+    // Position seems to be always 0 (independent of sent position)
+//    uint32_t position = deserializeUint32(decodedFrame + ACTION_DATA_OFFSET);
+//    if (position != rememberUploadPosition) {
+//        sif::warning << "StarTrackerHandler::handleUploadImageReply: Invalid position"
+//                << std::endl;
+//        return UPLOAD_IMAGE_FAILED;
+//    }
     return result;
 }
 
diff --git a/mission/devices/StarTrackerHandler.h b/mission/devices/StarTrackerHandler.h
index e082cf46..cbf05242 100644
--- a/mission/devices/StarTrackerHandler.h
+++ b/mission/devices/StarTrackerHandler.h
@@ -90,7 +90,7 @@ private:
     // position (uint32) + 1024 image data
     static const size_t UPLOAD_COMMAND_LEN = 1028;
     // Max valid position value in upload image command
-    static const uint16_t MAX_POSITION= 3071;
+    static const uint16_t MAX_POSITION= 4095;
     static const uint8_t STATUS_OFFSET = 2;
     static const uint8_t TICKS_OFFSET = 3;
     static const uint8_t TIME_OFFSET = 7;