diff --git a/core/net/rpl/rpl-dag.c b/core/net/rpl/rpl-dag.c
index 248c60b87..73f76b323 100644
--- a/core/net/rpl/rpl-dag.c
+++ b/core/net/rpl/rpl-dag.c
@@ -32,7 +32,7 @@
  *
  * This file is part of the Contiki operating system.
  *
- * $Id: rpl-dag.c,v 1.6 2010/05/10 13:46:35 nifi Exp $
+ * $Id: rpl-dag.c,v 1.7 2010/05/24 16:38:56 nvt-se Exp $
  */
 /**
  * \file
@@ -523,6 +523,11 @@ rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
       if(RPL_PARENT_COUNT(dag) > 1) {
         /* Since we have alternative parents, we can simply drop this one. */
         rpl_remove_neighbor(dag, n);
+	n = rpl_find_best_parent(dag);
+	if(n != NULL) {
+          rpl_set_default_route(dag, &n->addr);
+	}
+	return;
       } else if(dag->of->increment_rank(dio->dag_rank, n) <= dag->min_rank + dag->max_rankinc) {
         dag->rank = dag->of->increment_rank(dio->dag_rank, n);
         PRINTF("RPL: New rank is %hu, max is %hu\n",
diff --git a/core/net/rpl/rpl-icmp6.c b/core/net/rpl/rpl-icmp6.c
index 171fb8644..342a3fdd7 100644
--- a/core/net/rpl/rpl-icmp6.c
+++ b/core/net/rpl/rpl-icmp6.c
@@ -33,7 +33,7 @@
  *
  * This file is part of the Contiki operating system.
  *
- * $Id: rpl-icmp6.c,v 1.8 2010/05/19 16:16:57 joxe Exp $
+ * $Id: rpl-icmp6.c,v 1.9 2010/05/24 16:38:56 nvt-se Exp $
  */
 /**
  * \file
@@ -374,18 +374,19 @@ dao_input(void)
     return;
   }
 
-  PRINTF("RPL: Incoming DAO rank is %u, my rank is %u\n",
-	 (unsigned)rank, (unsigned)dag->rank);
   if(rank < dag->rank) {
+    PRINTF("RPL: Incoming DAO rank is %u, my rank is %u\n",
+	   (unsigned)rank, (unsigned)dag->rank);
     return;
   }
 
-  PRINTF("RPL: DAO rank: %u, lifetime: %lu, prefix length: %u\n",
-	(unsigned)rank, (unsigned long)lifetime, (unsigned)prefixlen);
-
   memset(&prefix, 0, sizeof(prefix));
   memcpy(&prefix, buffer + pos, prefixlen / CHAR_BIT);
 
+  PRINTF("RPL: DAO rank: %u, lifetime: %lu, prefix length: %u",
+	(unsigned)rank, (unsigned long)lifetime, (unsigned)prefixlen);
+  PRINTF("\n");
+
   if(lifetime == ZERO_LIFETIME) {
     /* No-DAO received; invoke the route purging routine. */
     rep = uip_ds6_route_lookup(&prefix);
diff --git a/core/net/rpl/rpl-timers.c b/core/net/rpl/rpl-timers.c
index af78a2273..057d17bae 100644
--- a/core/net/rpl/rpl-timers.c
+++ b/core/net/rpl/rpl-timers.c
@@ -32,7 +32,7 @@
  *
  * This file is part of the Contiki operating system.
  *
- * $Id: rpl-timers.c,v 1.4 2010/05/09 19:12:47 joxe Exp $
+ * $Id: rpl-timers.c,v 1.5 2010/05/24 16:38:56 nvt-se Exp $
  */
 /**
  * \file
@@ -101,9 +101,10 @@ new_dio_interval(rpl_dag_t *dag)
   /* keep some stats */
   dag->dio_totint++;
   dag->dio_totrecv += dag->dio_counter;
-  ANNOTATE("#A rank=%d,ints=%d,snd=%d,rcv=%d,cint=%d\n", dag->rank,
+  ANNOTATE("#A rank=%d,stats=%d %d %d %d,color=%s\n", dag->rank,
            dag->dio_totint, dag->dio_totsend,
-           dag->dio_totrecv,dag->dio_intcurrent);
+           dag->dio_totrecv,dag->dio_intcurrent,
+	   dag->rank == ROOT_RANK ? "BLUE" : "ORANGE");
 #endif /* RPL_CONF_STATS */
 
   /* reset the redundancy counter */
@@ -184,7 +185,7 @@ handle_dao_timer(void *ptr)
   dag = (rpl_dag_t *)ptr;
 
   if (!dio_send_ok && uip_ds6_get_link_local(ADDR_PREFERRED) == NULL) {
-    PRINTF("RPL: postpone DAO transmission... \n");
+    PRINTF("RPL: Postpone DAO transmission... \n");
     ctimer_set(&dag->dao_timer, CLOCK_SECOND, handle_dao_timer, dag);
     return;
   }
@@ -196,7 +197,7 @@ handle_dao_timer(void *ptr)
     PRINTF("RPL: handle_dao_timer - sending DAO\n");
     dao_output(n, DEFAULT_ROUTE_LIFETIME);
   } else {
-    PRINTF("RPL: could not find any best parent.. \n");
+    PRINTF("RPL: Could not find a parent to send a DAO to \n");
   }
   ctimer_stop(&dag->dao_timer);
 }
@@ -205,6 +206,7 @@ void
 rpl_schedule_dao(rpl_dag_t *dag)
 {
   clock_time_t expiration_time;
+
   expiration_time = etimer_expiration_time(&dag->dao_timer.etimer);
 
   if(!etimer_expired(&dag->dao_timer.etimer) &&
diff --git a/core/net/rpl/rpl.c b/core/net/rpl/rpl.c
index 7503aa364..342385a69 100644
--- a/core/net/rpl/rpl.c
+++ b/core/net/rpl/rpl.c
@@ -32,7 +32,7 @@
  *
  * This file is part of the Contiki operating system.
  *
- * $Id: rpl.c,v 1.2 2010/05/18 16:43:56 nvt-se Exp $
+ * $Id: rpl.c,v 1.3 2010/05/24 16:38:56 nvt-se Exp $
  */
 /**
  * \file
@@ -84,23 +84,30 @@ rpl_add_route(rpl_dag_t *dag, uip_ipaddr_t *prefix, int prefix_len,
 {
   uip_ds6_route_t *rep;
 
-  if((rep = uip_ds6_route_lookup(prefix)) == NULL) {
-
+  rep = uip_ds6_route_lookup(prefix);
+  if(rep == NULL) {
     if((rep = uip_ds6_route_add(prefix, prefix_len, next_hop, 0)) == NULL) {
       PRINTF("RPL: No space for more route entries\n");
       return NULL;
     }
-
-    rep->state.dag = dag;
-    rep->state.lifetime = DEFAULT_ROUTE_LIFETIME;
-    rep->state.learned_from = RPL_ROUTE_FROM_INTERNAL;
-
-    PRINTF("RPL: Added a route to ");
+  } else {
+    PRINTF("RPL: Updated the next hop for prefix ");
     PRINT6ADDR(prefix);
-    PRINTF("/%d via ", prefix_len);
+    PRINTF(" to ");
     PRINT6ADDR(next_hop);
     PRINTF("\n");
+    uip_ipaddr_copy(&rep->nexthop, next_hop);
   }
+  rep->state.dag = dag;
+  rep->state.lifetime = DEFAULT_ROUTE_LIFETIME;
+  rep->state.learned_from = RPL_ROUTE_FROM_INTERNAL;
+
+  PRINTF("RPL: Added a route to ");
+  PRINT6ADDR(prefix);
+  PRINTF("/%d via ", prefix_len);
+  PRINT6ADDR(next_hop);
+  PRINTF("\n");
+
   return rep;
 }
 /************************************************************************/
@@ -110,7 +117,6 @@ neighbor_callback(const rimeaddr_t *addr, int known, int etx)
   uip_ipaddr_t ipaddr;
   rpl_dag_t *dag;
   rpl_neighbor_t *parent;
-  uip_ds6_route_t *rep;
 
   uip_ip6addr(&ipaddr, 0xfe80, 0, 0, 0, 0, 0, 0, 0);
   uip_ds6_set_addr_iid(&ipaddr, (uip_lladdr_t *)addr);
@@ -119,22 +125,11 @@ neighbor_callback(const rimeaddr_t *addr, int known, int etx)
   PRINTF(" is %sknown. ETX = %d\n", known ? "" : "no longer ", etx);
 
   dag = rpl_get_dag(RPL_DEFAULT_INSTANCE);
-  if(dag == NULL) {
+  if(dag == NULL || (parent = rpl_find_neighbor(dag, &ipaddr)) == NULL) {
     return;
   }
 
-  parent = rpl_find_neighbor(dag, &ipaddr);
-  if(parent == NULL) {
-    rep = uip_ds6_route_lookup(&ipaddr);
-    if(rep != NULL) {
-      if(!known) {
-        rep->state.lifetime = DAO_EXPIRATION_TIMEOUT;
-        rep->state.saved_lifetime = rep->state.lifetime;
-      } else {
-        rep->state.lifetime = rep->state.saved_lifetime;
-      }
-    }
-  } else if(!known) {
+  if(!known) {
     PRINTF("RPL: Removing parent ");
     PRINT6ADDR(&parent->addr);
     PRINTF(" because of bad connectivity (ETX %d)\n", etx);