diff --git a/.gitignore b/.gitignore
index 8bb12431..05b59952 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,8 @@
 Debug
 Firmware/Configuration_prusa.h
 Firmware/Doc
+/Firmware/__vm
+/Firmware/Firmware.sln
+/Firmware/Firmware.vcxproj
+/Firmware/Firmware.vcxproj.filters
+/Firmware/.vs/Firmware/v14
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index b3c0a71f..857ddd64 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -322,6 +322,7 @@ unsigned long pause_time = 0;
 unsigned long start_pause_print = millis();
 unsigned long t_fan_rising_edge = millis();
 static LongTimer safetyTimer;
+static LongTimer crashDetTimer;
 
 //unsigned long load_filament_time;
 
@@ -678,6 +679,25 @@ void crashdet_detected(uint8_t mask)
 	    cmdqueue_pop_front();
 	}*/
 	st_synchronize();
+	static uint8_t crashDet_counter = 0;
+	bool automatic_recovery_after_crash = true;
+	bool yesno;
+
+	if (crashDet_counter++ == 0) {
+		crashDetTimer.start();
+	}
+	else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
+		crashDetTimer.stop();
+		crashDet_counter = 0;
+	}
+	else if(crashDet_counter == CRASHDET_COUNTER_MAX){
+		automatic_recovery_after_crash = false;
+		crashDetTimer.stop();
+		crashDet_counter = 0;
+	}
+	else {
+		crashDetTimer.start();
+	}
 
 	lcd_update_enable(true);
 	lcd_implementation_clear();
@@ -694,17 +714,21 @@ void crashdet_detected(uint8_t mask)
 		eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
 	}
     
-#ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
-    bool yesno = true;
-#else
-    bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_CRASH_DETECTED), false);
-#endif
+
+
 	lcd_update_enable(true);
 	lcd_update(2);
 	lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
+	gcode_G28(true, true, false, false); //home X and Y
+	st_synchronize();
+
+	if(automatic_recovery_after_crash) 
+		yesno = true;
+	else 
+		yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
+	lcd_update_enable(true);
 	if (yesno)
 	{
-		enquecommand_P(PSTR("G28 X Y"));
 		enquecommand_P(PSTR("CRASH_RECOVER"));
 	}
 	else
@@ -721,10 +745,15 @@ void crashdet_recover()
 
 void crashdet_cancel()
 {
-	card.sdprinting = false;
-	card.closefile();
 	tmc2130_sg_stop_on_crash = true;
+	if (saved_printing_type == PRINTING_TYPE_SD) {
+		lcd_print_stop();
+	}else if(saved_printing_type == PRINTING_TYPE_USB){
+		SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
+		SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
+	}
 }
+
 #endif //TMC2130
 
 void failstats_reset_print()
diff --git a/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h
index aa1ee44f..f20290da 100644
--- a/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h
@@ -141,6 +141,7 @@
 //#define DEBUG_DUMP_TO_2ND_SERIAL   //dump received characters to 2nd serial line
 //#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
 //#define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
+//#define CMD_DIAGNOSTICS //Show cmd queue length on printer display
 #endif /* DEBUG_BUILD */
 
 
diff --git a/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h b/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h
index fac638ba..7891b7a0 100644
--- a/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h
@@ -141,6 +141,7 @@
 //#define DEBUG_DUMP_TO_2ND_SERIAL   //dump received characters to 2nd serial line
 //#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
 //#define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
+//#define CMD_DIAGNOSTICS //Show cmd queue length on printer display
 #endif /* DEBUG_BUILD */
 
 
diff --git a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
index cbf34cfa..38518935 100644
--- a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
@@ -112,8 +112,9 @@
 
 #define Z_AXIS_ALWAYS_ON 1
 
-// Automatic recovery after crash is detected
-#define AUTOMATIC_RECOVERY_AFTER_CRASH
+//Crash detection
+#define CRASHDET_TIMER 45 //seconds
+#define CRASHDET_COUNTER_MAX 3 
 
 // New XYZ calibration
 #define NEW_XYZCAL
@@ -177,6 +178,7 @@
 #define DEBUG_DUMP_TO_2ND_SERIAL   //dump received characters to 2nd serial line
 #define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
 #define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
+#define CMD_DIAGNOSTICS //Show cmd queue length on printer display
 #endif /* DEBUG_BUILD */
 
 //#define EXPERIMENTAL_FEATURES