diff --git a/RoboGlue.pro.user b/RoboGlue.pro.user
index 427bf8b..bd5c3ac 100644
--- a/RoboGlue.pro.user
+++ b/RoboGlue.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-11-04T15:40:48. -->
+<!-- Written by QtCreator 4.8.2, 2019-11-05T16:47:40. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/com/mqtt_callback.cpp b/com/mqtt_callback.cpp
index 7a20cab..7b8e0f2 100644
--- a/com/mqtt_callback.cpp
+++ b/com/mqtt_callback.cpp
@@ -31,17 +31,20 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
                         intMsg[mem_->comSettings.TS]);
             if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["relay"])){
                 mem_->commonStatus.relayRunning = true;
-                mem_->commonStatus.relayLast = fabs(mem_->commonStatus.relayLast - std::stod(intMsg[mem_->comSettings.TS]));
+                mem_->commonStatus.relayLast = std::stod(intMsg[mem_->comSettings.TS]);
+                log_->trace("HB RELAY time: [{}]", mem_->commonStatus.relayLast);
             } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["follower"])) {
                 mem_->commonStatus.followerRunning = true;
-                mem_->commonStatus.followerLast = fabs(mem_->commonStatus.followerLast - std::stod(intMsg[mem_->comSettings.TS]));
+                mem_->commonStatus.followerLast = std::stod(intMsg[mem_->comSettings.TS]);
+                log_->trace("HB FOLLOWER time: [{}]", mem_->commonStatus.followerLast);
             } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) {
                 mem_->commonStatus.recorderRunning = true;
-                mem_->commonStatus.recorderLast = fabs(mem_->commonStatus.recorderLast - std::stod(intMsg[mem_->comSettings.TS]));
+                mem_->commonStatus.recorderLast = std::stod(intMsg[mem_->comSettings.TS]);
+                log_->trace("HB RECORDER time: [{}]", mem_->commonStatus.recorderLast);
             } else {
                 log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str());
             }
-            emit mem_->commonStatusChange();
+            //emit mem_->commonStatusChange();
         }
     } else if (msg->get_topic() == mem_->comSettings.subMap.find("state")->second){
         log_->debug("MQTT: State Message: {}", msg->get_payload().c_str());
diff --git a/com/roboglue_com.cpp b/com/roboglue_com.cpp
index 4ab4a1e..7b28096 100644
--- a/com/roboglue_com.cpp
+++ b/com/roboglue_com.cpp
@@ -6,7 +6,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
     liblog = spdlog::stdout_logger_mt("URcom_liblog");
     modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
     liblog->set_level(spdlog::level::warn);
-    modlog->set_level(spdlog::level::info);
+    modlog->set_level(spdlog::level::trace);
 
     ///////// INITIALIZE TCP SERVER ///////////
     server = new QTcpServer(this);
diff --git a/gui/roboglue_gui.cpp b/gui/roboglue_gui.cpp
index 5fa5b15..177a47e 100644
--- a/gui/roboglue_gui.cpp
+++ b/gui/roboglue_gui.cpp
@@ -92,13 +92,13 @@ void RoboGlue_GUI::disableLockAxes(){
 void RoboGlue_GUI::on_commonStatusChange() {
     modlog->trace("on_commonStatusChange Received");
     // TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat
-    this->ui->lbl_relay->setText(QString().fromStdString(std::to_string(m->commonStatus.relayLast)));
-    this->ui->lbl_follower->setText(QString().fromStdString(std::to_string(m->commonStatus.followerLast)));
-    this->ui->lbl_recorder->setText(QString().fromStdString(std::to_string(m->commonStatus.recorderLast)));
+    this->ui->lbl_relay->setText(QString().fromStdString(std::to_string(m->commonStatus.relayTime)));
+    this->ui->lbl_follower->setText(QString().fromStdString(std::to_string(m->commonStatus.followerTime)));
+    this->ui->lbl_recorder->setText(QString().fromStdString(std::to_string(m->commonStatus.recorderTime)));
 
-    if(m->commonStatus.relayLast > m->comSettings.deadTime ||
-            m->commonStatus.followerLast > m->comSettings.deadTime ||
-            m->commonStatus.recorderLast > m->comSettings.deadTime) {
+    if(m->commonStatus.relayTime > m->comSettings.deadTime ||
+            m->commonStatus.followerTime > m->comSettings.deadTime ||
+            m->commonStatus.recorderTime > m->comSettings.deadTime) {
         this->ui->lbl_relay->setStyleSheet("QLabel { background-color : red; color : white; }");
         this->ui->lbl_follower->setStyleSheet("QLabel { background-color : red; color : white; }");
         this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : red; color : white; }");
diff --git a/shared/roboglue_shared.cpp b/shared/roboglue_shared.cpp
index b0e6a10..14fe524 100644
--- a/shared/roboglue_shared.cpp
+++ b/shared/roboglue_shared.cpp
@@ -15,6 +15,10 @@ RoboGlue_SHARED::~RoboGlue_SHARED(){
 }
 
 void RoboGlue_SHARED::on_statusTimer(void){
+    double curTime = static_cast<double>(std::time(NULL));
+    commonStatus.relayTime = fabs(commonStatus.relayLast - curTime);
+    commonStatus.followerTime = fabs(commonStatus.followerLast - curTime);
+    commonStatus.recorderTime = fabs(commonStatus.recorderLast - curTime);
     emit this->commonStatusChange();
 }
 ////////////////////////////////////////////////////////////////
diff --git a/shared/roboglue_shared.h b/shared/roboglue_shared.h
index 9ca7649..cbaa133 100644
--- a/shared/roboglue_shared.h
+++ b/shared/roboglue_shared.h
@@ -59,6 +59,9 @@ public:
         double relayLast = 0.0;
         double followerLast = 0.0;
         double recorderLast = 0.0;
+        double relayTime = 0.0;
+        double followerTime = 0.0;
+        double recorderTime = 0.0;
     } commonStatus;
 
     /////////// PERMANENT SETTINGS VARIABLES /////////