diff --git a/features/nanostack/sal-stack-nanostack/source/6LoWPAN/Thread/thread_test_api.c b/features/nanostack/sal-stack-nanostack/source/6LoWPAN/Thread/thread_test_api.c
index bc137b1a9f..79a3972425 100644
--- a/features/nanostack/sal-stack-nanostack/source/6LoWPAN/Thread/thread_test_api.c
+++ b/features/nanostack/sal-stack-nanostack/source/6LoWPAN/Thread/thread_test_api.c
@@ -70,7 +70,7 @@ int_fast8_t arm_nwk_6lowpan_thread_test_add_neighbour(
     const uint8_t *id_mask,
     const uint8_t *route_data)
 {
-#ifdef HAVE_THREAD
+#ifdef HAVE_THREAD_ROUTER
     protocol_interface_info_entry_t *cur;
     cur = protocol_stack_interface_info_get_by_id(interface_id);
     if (!cur) {
@@ -94,7 +94,7 @@ int_fast8_t arm_nwk_6lowpan_thread_test_remove_neighbour(
     int8_t interface_id,
     uint16_t neighbour_short_addr)
 {
-#ifdef HAVE_THREAD
+#ifdef HAVE_THREAD_ROUTER
     protocol_interface_info_entry_t *cur;
     cur = protocol_stack_interface_info_get_by_id(interface_id);
     if (!cur) {
@@ -1220,7 +1220,7 @@ int8_t thread_test_initial_slaac_iid_set(int8_t interface_id, uint8_t *iid)
 
 int8_t thread_test_router_id_request_send(int8_t interface_id, uint8_t status)
 {
-#ifdef HAVE_THREAD
+#ifdef HAVE_THREAD_ROUTER
     protocol_interface_info_entry_t *cur;
 
     cur = protocol_stack_interface_info_get_by_id(interface_id);
diff --git a/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.c b/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.c
index 7ff5035fb7..03a646d854 100644
--- a/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.c
+++ b/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.c
@@ -1086,6 +1086,32 @@ cleanup:
     return ret_val;
 }
 
+void ws_bootstrap_disconnect(protocol_interface_info_entry_t *cur, ws_bootsrap_event_type_e event_type)
+{
+    if (cur->nwk_bootstrap_state == ER_RPL_NETWORK_LEAVING) {
+        //Already moved to leaving state.
+        return;
+    }
+
+    if (cur->rpl_domain && cur->nwk_bootstrap_state == ER_BOOTSRAP_DONE) {
+        //Stop Asych Timer
+        ws_bootstrap_asynch_trickle_stop(cur);
+        tr_debug("Start Network soft leaving");
+        if (event_type == WS_FAST_DISCONNECT) {
+            rpl_control_instant_poison(cur, cur->rpl_domain);
+            cur->bootsrap_state_machine_cnt = 80; //Give 8 seconds time to send Poison
+        } else {
+            rpl_control_poison(cur->rpl_domain, 1);
+            cur->bootsrap_state_machine_cnt = 6000; //Give 10 minutes time for poison if RPL is not report
+        }
+
+    } else {
+        ws_bootstrap_event_discovery_start(cur);
+    }
+    cur->nwk_bootstrap_state = ER_RPL_NETWORK_LEAVING;
+}
+
+
 static void ws_bootstrap_asynch_trickle_stop(protocol_interface_info_entry_t *cur)
 {
     cur->ws_info->trickle_pas_running = false;
@@ -1638,7 +1664,7 @@ static void ws_bootstrap_pan_config_analyse(struct protocol_interface_info_entry
                 tr_debug("NEW Brodcast Schedule %u...BR rebooted", ws_bs_ie.broadcast_schedule_identifier);
                 cur->ws_info->ws_bsi_block.block_time = cur->ws_info->cfg->timing.pan_timeout;
                 cur->ws_info->ws_bsi_block.old_bsi = cur->ws_info->hopping_schdule.fhss_bsi;
-                ws_bootstrap_event_discovery_start(cur);
+                ws_bootstrap_event_disconnect(cur, WS_NORMAL_DISCONNECT);
             }
             return;
         }
@@ -2364,7 +2390,11 @@ int ws_bootstrap_set_rf_config(protocol_interface_info_entry_t *cur, phy_rf_chan
     set_request.value_size = sizeof(phy_rf_channel_configuration_s);
     cur->mac_api->mlme_req(cur->mac_api, MLME_SET, &set_request);
     // Set Ack wait duration
-    uint16_t ack_wait_symbols = WS_ACK_WAIT_SYMBOLS + (WS_TACK_MAX_MS * (rf_configs.datarate / 1000));
+    uint8_t bits_per_symbol = 1;
+    if (rf_configs.modulation == M_OFDM) {
+        bits_per_symbol = 4;
+    }
+    uint16_t ack_wait_symbols = WS_ACK_WAIT_SYMBOLS + (WS_TACK_MAX_MS * (rf_configs.datarate / 1000) / bits_per_symbol);
     set_request.attr = macAckWaitDuration;
     set_request.value_pointer = &ack_wait_symbols;
     set_request.value_size = sizeof(ack_wait_symbols);
@@ -2553,6 +2583,15 @@ static void ws_bootstrap_rpl_callback(rpl_event_t event, void *handle)
     if (!cur->rpl_domain || cur->interface_mode != INTERFACE_UP) {
         return;
     }
+
+    if (event == RPL_EVENT_POISON_FINISHED) {
+        //If we are waiting poison we will trig Discovery after couple seconds
+        if (cur->nwk_bootstrap_state == ER_RPL_NETWORK_LEAVING) {
+            cur->bootsrap_state_machine_cnt = 80; //Give 8 seconds time to send Poison
+        }
+        return;
+    }
+
     // if waiting for RPL and
     if (event == RPL_EVENT_DAO_DONE) {
         // Trigger statemachine check
@@ -2832,6 +2871,7 @@ static void ws_bootstrap_rpl_activate(protocol_interface_info_entry_t *cur)
     rpl_control_set_dao_retry_count(WS_MAX_DAO_RETRIES);
     rpl_control_set_initial_dao_ack_wait(WS_MAX_DAO_INITIAL_TIMEOUT);
     rpl_control_set_mrhof_parent_set_size(WS_MAX_PARENT_SET_COUNT);
+    rpl_control_set_force_tunnel(true);
     if (cur->bootsrap_mode != ARM_NWK_BOOTSRAP_MODE_6LoWPAN_BORDER_ROUTER) {
         rpl_control_set_memory_limits(WS_NODE_RPL_SOFT_MEM_LIMIT, WS_NODE_RPL_HARD_MEM_LIMIT);
     }
@@ -3132,6 +3172,12 @@ void ws_bootstrap_event_routing_ready(protocol_interface_info_entry_t *cur)
 {
     ws_bootsrap_event_trig(WS_ROUTING_READY, cur->bootStrapId, ARM_LIB_LOW_PRIORITY_EVENT, NULL);
 }
+
+void ws_bootstrap_event_disconnect(protocol_interface_info_entry_t *cur, ws_bootsrap_event_type_e event_type)
+{
+    ws_bootsrap_event_trig(event_type, cur->bootStrapId, ARM_LIB_LOW_PRIORITY_EVENT, NULL);
+}
+
 void ws_bootstrap_configuration_trickle_reset(protocol_interface_info_entry_t *cur)
 {
     trickle_inconsistent_heard(&cur->ws_info->trickle_pan_config, &cur->ws_info->trickle_params_pan_discovery);
@@ -3315,6 +3361,7 @@ static int8_t ws_bootstrap_backbone_ip_addr_get(protocol_interface_info_entry_t
     return -1;
 }
 
+
 static void ws_bootstrap_event_handler(arm_event_s *event)
 {
     ws_bootsrap_event_type_e event_type;
@@ -3331,7 +3378,6 @@ static void ws_bootstrap_event_handler(arm_event_s *event)
             break;
         case WS_DISCOVERY_START:
             tr_info("Discovery start");
-
             protocol_mac_reset(cur);
             ws_llc_reset(cur);
             lowpan_adaptation_interface_reset(cur->id);
@@ -3467,6 +3513,12 @@ static void ws_bootstrap_event_handler(arm_event_s *event)
             ws_bootstrap_advertise_start(cur);
             ws_bootstrap_state_change(cur, ER_BOOTSRAP_DONE);
             break;
+        case WS_FAST_DISCONNECT:
+            ws_bootstrap_disconnect(cur, WS_FAST_DISCONNECT);
+            break;
+        case WS_NORMAL_DISCONNECT:
+            ws_bootstrap_disconnect(cur, WS_NORMAL_DISCONNECT);
+            break;
 
         default:
             tr_err("Invalid event received");
@@ -3658,6 +3710,10 @@ void ws_bootstrap_state_machine(protocol_interface_info_entry_t *cur)
             // Bootstrap_done event to application
             nwk_bootsrap_state_update(ARM_NWK_BOOTSTRAP_READY, cur);
             break;
+        case ER_RPL_NETWORK_LEAVING:
+            tr_debug("WS SM:RPL Leaving ready trigger discovery");
+            ws_bootstrap_event_discovery_start(cur);
+            break;
         default:
             tr_warn("WS SM:Invalid state %d", cur->nwk_bootstrap_state);
     }
@@ -3743,9 +3799,10 @@ void ws_bootstrap_seconds_timer(protocol_interface_info_entry_t *cur, uint32_t s
             }
         } else {
             // Border router has timed out
+            //Clear Timeout timer
             cur->ws_info->pan_timeout_timer = 0;
             tr_warn("Border router has timed out");
-            ws_bootstrap_event_discovery_start(cur);
+            ws_bootstrap_event_disconnect(cur, WS_FAST_DISCONNECT);
         }
     }
     if (cur->ws_info->aro_registration_timer) {
diff --git a/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.h b/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.h
index 7be0655ca3..8d40c63eee 100644
--- a/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.h
+++ b/features/nanostack/sal-stack-nanostack/source/6LoWPAN/ws/ws_bootstrap.h
@@ -24,7 +24,9 @@ typedef enum {
     WS_DISCOVERY_START,      /**< discovery start*/
     WS_CONFIGURATION_START,  /**< configuration learn start*/
     WS_OPERATION_START,      /**< active operation start*/
-    WS_ROUTING_READY        /**< RPL routing connected to BR*/
+    WS_ROUTING_READY,        /**< RPL routing connected to BR*/
+    WS_FAST_DISCONNECT,      /**< Do fast timeout after Border router timeout*/
+    WS_NORMAL_DISCONNECT     /**< Border have been rebooted so Slow poison Process*/
 } ws_bootsrap_event_type_e;
 
 #ifdef HAVE_WS
@@ -60,6 +62,8 @@ void ws_bootstrap_event_operation_start(protocol_interface_info_entry_t *cur);
 
 void ws_bootstrap_event_routing_ready(protocol_interface_info_entry_t *cur);
 
+void ws_bootstrap_event_disconnect(protocol_interface_info_entry_t *cur, ws_bootsrap_event_type_e event_type);
+
 void ws_bootstrap_configuration_trickle_reset(protocol_interface_info_entry_t *cur);
 
 void ws_bootstrap_seconds_timer(protocol_interface_info_entry_t *cur, uint32_t seconds);
diff --git a/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_defines.h b/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_defines.h
index 51ce748424..84e2612fcf 100644
--- a/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_defines.h
+++ b/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_defines.h
@@ -272,7 +272,7 @@ typedef struct protocol_interface_rf_mac_setup {
     int8_t bc_timer_id;
     uint32_t mlme_tick_count;
     uint32_t symbol_rate;
-    uint32_t symbol_time_us;
+    uint32_t symbol_time_ns;
     uint32_t datarate;
     uint8_t max_ED;
     uint16_t mlme_ED_counter;
diff --git a/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_mlme.c b/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_mlme.c
index 0e6ae5ca36..5530c6b3ae 100644
--- a/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_mlme.c
+++ b/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_mlme.c
@@ -652,11 +652,11 @@ void mac_extended_mac_set(protocol_interface_rf_mac_setup_s *rf_mac_setup, const
 
 static uint32_t mac_calc_ack_wait_duration(protocol_interface_rf_mac_setup_s *rf_mac_setup, uint16_t symbols)
 {
-    uint32_t AckWaitDuration = 0;
+    uint32_t AckWaitDuration_us = 0;
     if (rf_mac_setup->rf_csma_extension_supported) {
-        AckWaitDuration = symbols * rf_mac_setup->symbol_time_us;
+        AckWaitDuration_us = (symbols * rf_mac_setup->symbol_time_ns) / 1000;
     }
-    return AckWaitDuration;
+    return AckWaitDuration_us;
 }
 
 static int8_t mac_mlme_set_ack_wait_duration(protocol_interface_rf_mac_setup_s *rf_mac_setup, const mlme_set_t *set_req)
@@ -1107,8 +1107,8 @@ static int mac_mlme_set_symbol_rate(protocol_interface_rf_mac_setup_s *rf_mac_se
 {
     if (rf_mac_setup->rf_csma_extension_supported) {
         rf_mac_setup->dev_driver->phy_driver->extension(PHY_EXTENSION_GET_SYMBOLS_PER_SECOND, (uint8_t *) &rf_mac_setup->symbol_rate);
-        rf_mac_setup->symbol_time_us = 1000000 / rf_mac_setup->symbol_rate;
-        tr_debug("SW-MAC driver support rf extension %"PRIu32" symbol/seconds  %"PRIu32" us symbol time length", rf_mac_setup->symbol_rate, rf_mac_setup->symbol_time_us);
+        rf_mac_setup->symbol_time_ns = 1000000000 / rf_mac_setup->symbol_rate;
+        tr_debug("SW-MAC driver support rf extension %"PRIu32" symbol/seconds  %"PRIu32" ns symbol time length", rf_mac_setup->symbol_rate, rf_mac_setup->symbol_time_ns);
         return 0;
     }
     return -1;
diff --git a/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_pd_sap.c b/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_pd_sap.c
index 6a6b4a3f93..766901c82c 100644
--- a/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_pd_sap.c
+++ b/features/nanostack/sal-stack-nanostack/source/MAC/IEEE802_15_4/mac_pd_sap.c
@@ -97,7 +97,7 @@ uint32_t mac_csma_backoff_get(protocol_interface_rf_mac_setup_s *rf_mac_setup)
     uint32_t backoff_in_us;
     //Multiple aUnitBackoffPeriod symbol time
     if (rf_mac_setup->rf_csma_extension_supported) {
-        backoff_in_us = backoff * rf_mac_setup->aUnitBackoffPeriod * rf_mac_setup->symbol_time_us;
+        backoff_in_us = backoff * rf_mac_setup->aUnitBackoffPeriod * (rf_mac_setup->symbol_time_ns / 1000);
     } else {
         backoff_in_us = backoff * rf_mac_setup->backoff_period_in_10us * 10;
     }
diff --git a/features/nanostack/sal-stack-nanostack/source/NWK_INTERFACE/Include/protocol.h b/features/nanostack/sal-stack-nanostack/source/NWK_INTERFACE/Include/protocol.h
index a9f26329db..81d44631da 100644
--- a/features/nanostack/sal-stack-nanostack/source/NWK_INTERFACE/Include/protocol.h
+++ b/features/nanostack/sal-stack-nanostack/source/NWK_INTERFACE/Include/protocol.h
@@ -124,6 +124,7 @@ typedef enum icmp_state {
     ER_BOOTSTRAP_NEW_FRAGMENT_START,
     ER_WAIT_RESTART,
     ER_RPL_LOCAL_REPAIR,
+    ER_RPL_NETWORK_LEAVING,
 } icmp_state_t;
 
 typedef enum {
diff --git a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.c b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.c
index b6724d65fd..74f5fdafef 100644
--- a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.c
+++ b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.c
@@ -204,6 +204,12 @@ void rpl_control_set_mrhof_parent_set_size(uint16_t parent_set_size)
     rpl_policy_set_mrhof_parent_set_size(parent_set_size);
 }
 
+/* True Force RPL to use IPv6 tunneling when it send and forward data to Border router direction, This feature is disabled by default  */
+void rpl_control_set_force_tunnel(bool requested)
+{
+    rpl_policy_force_tunnel_set(requested);
+}
+
 /* Send address registration to either specified address, or to non-registered address */
 void rpl_control_register_address(protocol_interface_info_entry_t *interface, const uint8_t addr[16])
 {
@@ -399,6 +405,7 @@ static void rpl_control_etx_change_callback(int8_t  nwk_id, uint16_t previous_et
     if (!cur || !cur->rpl_domain) {
         return;
     }
+    (void) attribute_index;
     // ETX is "better" if now lower, or previous was "unknown" and new isn't infinite
     bool better = current_etx < previous_etx || (previous_etx == 0 && current_etx != 0xffff);
 
diff --git a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.h b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.h
index 5b9f6c26cf..e1525eee81 100644
--- a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.h
+++ b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_control.h
@@ -36,6 +36,7 @@ typedef enum rpl_event {
     RPL_EVENT_LOCAL_REPAIR_START, /* RPL start scanning new parent by multicast DIS user can disable beacon request responser here*/
     RPL_EVENT_LOCAL_REPAIR_NO_MORE_DIS, /* RPL not sending DIS anymore user can report bootstrap error */
     RPL_EVENT_DAO_PARENT_ADD, /* RPL indicate that DAO downward Parent has been added */
+    RPL_EVENT_POISON_FINISHED, /* RPL have finished Dodag Poison proces */
 } rpl_event_t;
 
 typedef void rpl_domain_callback_t(rpl_event_t event, void *handle);
@@ -176,6 +177,7 @@ bool rpl_control_find_worst_neighbor(struct protocol_interface_info_entry *inter
 
 /* Parent link confirmation API extension */
 void rpl_control_request_parent_link_confirmation(bool requested);
+void rpl_control_set_force_tunnel(bool requested);
 void rpl_control_set_dio_multicast_min_config_advertisment_count(uint8_t min_count);
 void rpl_control_set_address_registration_timeout(uint16_t timeout_in_minutes);
 void rpl_control_set_dao_retry_count(uint8_t count);
@@ -200,6 +202,7 @@ const rpl_dodag_conf_t *rpl_control_get_dodag_config(const struct rpl_instance *
 const uint8_t *rpl_control_preferred_parent_addr(const struct rpl_instance *instance, bool global);
 uint16_t rpl_control_current_rank(const struct rpl_instance *instance);
 uint8_t rpl_policy_mrhof_parent_set_size_get(const rpl_domain_t *domain);
+void rpl_control_instant_poison(struct protocol_interface_info_entry *cur, rpl_domain_t *domain);
 
 #else /* HAVE_RPL */
 
@@ -211,6 +214,7 @@ uint8_t rpl_policy_mrhof_parent_set_size_get(const rpl_domain_t *domain);
 #define rpl_control_address_register_done(interface, ll_addr, status) (false)
 #define rpl_policy_mrhof_parent_set_size_get(domain) (0)
 #define rpl_control_set_mrhof_parent_set_size(parent_set_size)
+#define rpl_control_instant_poison(cur, domain) ((void) 0)
 #endif /* HAVE_RPL */
 
 #endif /* RPL_CONTROL_H_ */
diff --git a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_data.c b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_data.c
index 236b6a5431..c718f34c43 100644
--- a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_data.c
+++ b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_data.c
@@ -334,8 +334,24 @@ static buffer_t *rpl_data_exthdr_provider_hbh_2(buffer_t *buf, rpl_instance_t *i
 
     bool destination_in_instance = false;
     uint16_t ext_size = 0;
-    if (addr_ipv6_equal(route_info->next_hop_addr, buf->dst_sa.address) ||
-            addr_ipv6_equal(buf->dst_sa.address, dodag->id)) {
+
+    // Limit creation of multi-hop RPL packets
+    // Previous code created multi-hop RPL packets as much as possible,
+    // sending direct to border router in particular.
+    // This has caused WiSUN interop problems, so limit this.
+    // a) When creating a basic packet, have a policy option that prevents
+    //    direct RPL header insertion, forcing tunnelling. This means
+    //    we never put a RPL header on the innermost packet. Option is
+    //    off by default, except for WiSUN, as it increases packet size
+    //    when talking to the border router (eg DAOs).
+    //  b) When putting a packet into a tunnel, set the tunnel exit to the
+    //     next hop always, rather than having a special case for exiting
+    //     at the border router. This is probably a net benefit to packet
+    //     size because of the LL addresses used on the outer header, so
+    //     this is an unconditional change. Exception remains for local
+    //     DODAGs, where the destination address must be the DODAGID.
+    if (addr_ipv6_equal(route_info->next_hop_addr, buf->dst_sa.address)  || (!rpl_policy_force_tunnel() &&
+                                                                             addr_ipv6_equal(buf->dst_sa.address, dodag->id))) {
         destination_in_instance = true;
 
         if (buf->rpl_option) {
@@ -409,10 +425,12 @@ static buffer_t *rpl_data_exthdr_provider_hbh_2(buffer_t *buf, rpl_instance_t *i
             rpl_data_locate_info(buf, &opt, NULL);
             if (!opt) {
                 *result = IPV6_EXTHDR_MODIFY_TUNNEL;
-                // Tunnel to next hop in general case, but if going to DODAGID,
-                // it can tunnel all the way (and it HAS to if it is a local
-                // DODAG).
-                if (!addr_ipv6_equal(buf->dst_sa.address, dodag->id)) {
+                // Tunnel to next hop always, even if we could tunnel all
+                // the way to DODAG root (this may be better for
+                // packet compression, and it was found to be necessary for
+                // Wi-SUN interoperability). Except for local DODAGs the
+                // destination must be the DODAGID, so retain that in dst_sa.
+                if (!rpl_instance_id_is_local(instance->id)) {
                     memcpy(buf->dst_sa.address, route_info->next_hop_addr, 16);
                 }
                 buf->src_sa.addr_type = ADDR_NONE; // force auto-selection
@@ -427,18 +445,20 @@ static buffer_t *rpl_data_exthdr_provider_hbh_2(buffer_t *buf, rpl_instance_t *i
                  * strictly less for Down packets and strictly greater for Up.
                  */
                 sender_rank = common_read_16_bit(opt + 4);
-                rpl_cmp_t cmp = rpl_rank_compare_dagrank_rank(dodag, sender_rank, instance->current_rank);
-                rpl_cmp_t expected_cmp = (opt[2] & RPL_OPT_DOWN) ? RPL_CMP_LESS : RPL_CMP_GREATER;
-                if (cmp != expected_cmp) {
-                    /* Set the Rank-Error bit; if already set, drop */
-                    if (opt[2] & RPL_OPT_RANK_ERROR) {
-                        protocol_stats_update(STATS_RPL_ROUTELOOP, 1);
-                        tr_info("Forwarding inconsistency R");
-                        rpl_instance_inconsistency(instance);
-                        *result = -1;
-                        return buf;
-                    } else {
-                        opt[2] |= RPL_OPT_RANK_ERROR;
+                if (sender_rank != 0) {
+                    rpl_cmp_t cmp = rpl_rank_compare_dagrank_rank(dodag, sender_rank, instance->current_rank);
+                    rpl_cmp_t expected_cmp = (opt[2] & RPL_OPT_DOWN) ? RPL_CMP_LESS : RPL_CMP_GREATER;
+                    if (cmp != expected_cmp) {
+                        /* Set the Rank-Error bit; if already set, drop */
+                        if (opt[2] & RPL_OPT_RANK_ERROR) {
+                            protocol_stats_update(STATS_RPL_ROUTELOOP, 1);
+                            tr_info("Forwarding inconsistency R");
+                            rpl_instance_inconsistency(instance);
+                            *result = -1;
+                            return buf;
+                        } else {
+                            opt[2] |= RPL_OPT_RANK_ERROR;
+                        }
                     }
                 }
             }
diff --git a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.c b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.c
index 5e6b7258d4..11a6737597 100644
--- a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.c
+++ b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.c
@@ -48,6 +48,17 @@ static uint8_t rpl_policy_mrhof_parent_set_size_conf = 3; // default parent set
 static uint16_t rpl_policy_minimum_dao_target_refresh_conf = 0; // by default follow the configuration
 static uint16_t rpl_policy_address_registration_timeout_value = 0; // Address registration timeouts in minutes 0 use address lifetime
 
+static bool rpl_policy_force_tunnel_to_BR = false;
+
+bool rpl_policy_force_tunnel(void)
+{
+    return rpl_policy_force_tunnel_to_BR;
+}
+
+void rpl_policy_force_tunnel_set(bool enable)
+{
+    rpl_policy_force_tunnel_to_BR = enable;
+}
 /* TODO - application API to control when to join new instances / DODAGs
  *
  * Eg, allow application to ignore local DODAGs, or specify known instance IDs,
diff --git a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.h b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.h
index ac9ca67a1f..91e4917587 100644
--- a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.h
+++ b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_policy.h
@@ -21,6 +21,9 @@
 #include "Core/include/ns_address_internal.h"
 #include "rpl_control.h"
 
+bool rpl_policy_force_tunnel(void);
+void rpl_policy_force_tunnel_set(bool enable);
+
 bool rpl_policy_join_instance(rpl_domain_t *domain, uint8_t instance_id, const uint8_t *dodagid);
 bool rpl_policy_join_dodag(rpl_domain_t *domain, uint8_t g_mop_prf, uint8_t instance_id, const uint8_t *dodagid);
 bool rpl_policy_join_config(rpl_domain_t *domain, const rpl_dodag_conf_t *conf, bool *leaf_only);
diff --git a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_upward.c b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_upward.c
index 2a606da2ea..9dc69c6c38 100644
--- a/features/nanostack/sal-stack-nanostack/source/RPL/rpl_upward.c
+++ b/features/nanostack/sal-stack-nanostack/source/RPL/rpl_upward.c
@@ -347,6 +347,14 @@ void rpl_instance_poison(rpl_instance_t *instance, uint8_t count)
     rpl_instance_inconsistency(instance);
 }
 
+void rpl_control_instant_poison(protocol_interface_info_entry_t *cur, rpl_domain_t *domain)
+{
+    ns_list_foreach(rpl_instance_t, instance, &domain->instances) {
+        rpl_instance_poison(instance, 1);
+        rpl_instance_dio_trigger(instance, cur, NULL);
+    }
+}
+
 void rpl_instance_force_leaf(rpl_instance_t *instance)
 {
     instance->current_rank = RPL_RANK_INFINITE;
@@ -363,7 +371,7 @@ void rpl_instance_trigger_parent_selection(rpl_instance_t *instance, uint16_t de
         }
     }
     if (instance->parent_selection_timer == 0 || instance->parent_selection_timer > delay) {
-        instance->parent_selection_timer = randLIB_randomise_base(delay, 0x8000, 0x999A) /* Random between delay * 1.0-1.2 */;
+        instance->parent_selection_timer = randLIB_randomise_base(delay, 0x8000, 0xc000) /* Random between delay * 1.0-1.5 */;
         tr_debug("Timed parent triggered %u", instance->parent_selection_timer);
     }
 }
@@ -1620,6 +1628,10 @@ void rpl_instance_dio_trigger(rpl_instance_t *instance, protocol_interface_info_
         instance->poison_count--;
         rank = RPL_RANK_INFINITE;
         tr_debug("Poison count -> set RPL_RANK_INFINITE");
+        if (instance->poison_count == 0) {
+            //Report RPL user that Poison message is triggered
+            rpl_control_event(instance->domain, RPL_EVENT_POISON_FINISHED);
+        }
     }
 
     // Always send config in unicasts (as required), never in multicasts (optional)
diff --git a/features/nanostack/sal-stack-nanostack/source/Security/Common/security_lib.c b/features/nanostack/sal-stack-nanostack/source/Security/Common/security_lib.c
index ff3d31a0be..a48616a086 100644
--- a/features/nanostack/sal-stack-nanostack/source/Security/Common/security_lib.c
+++ b/features/nanostack/sal-stack-nanostack/source/Security/Common/security_lib.c
@@ -128,6 +128,10 @@ void tls_server_hash_copy(uint8_t *ptr, tls_msg_t *tmp_msg, sec_suite_t *suite)
     tls_build_server_hello_msg(ptr, suite->tls_session);
     tls_handshake_copy(tmp_msg, t_heap);
     tr_debug("Pana server S-Hello,Cert hash");
+#else
+    (void) ptr;
+    (void) tmp_msg;
+    (void) suite;
 #endif
 }
 #endif
diff --git a/features/nanostack/sal-stack-nanostack/source/Security/PANA/pana_server.c b/features/nanostack/sal-stack-nanostack/source/Security/PANA/pana_server.c
index e2b863e8f7..092b4ad59c 100644
--- a/features/nanostack/sal-stack-nanostack/source/Security/PANA/pana_server.c
+++ b/features/nanostack/sal-stack-nanostack/source/Security/PANA/pana_server.c
@@ -1721,6 +1721,8 @@ static void pana_client_authentication_fail(sec_suite_t *suite)
 int8_t pana_server_nvm_callback_set(pana_server_update_cb *update_cb, pana_server_session_get_cb *nvm_get, pana_server_session_get_by_id_cb *nvm_session_get, uint8_t *nvm_static_buffer)
 {
     (void)update_cb;
+    (void)nvm_get;
+    (void)nvm_session_get;
     (void)nvm_static_buffer;
     return -1;
 }
diff --git a/features/nanostack/sal-stack-nanostack/source/Security/TLS/tls_lib.c b/features/nanostack/sal-stack-nanostack/source/Security/TLS/tls_lib.c
index f23517a62c..dcd4f8e53f 100644
--- a/features/nanostack/sal-stack-nanostack/source/Security/TLS/tls_lib.c
+++ b/features/nanostack/sal-stack-nanostack/source/Security/TLS/tls_lib.c
@@ -68,7 +68,9 @@ static uint8_t tls_parse_server_key_exchange(uint8_t *ptr, uint16_t len, sec_sui
 
 static uint8_t *tls_set_client_key_excange(uint8_t *ptr, sec_suite_t *tls_suite);
 static uint8_t tls_parse_server_hello(uint8_t *ptr, sec_suite_t *tls_suite);
+#ifdef PANA_SERVER_API
 static uint8_t tls_parse_client_hello(uint8_t *ptr, uint16_t len, sec_suite_t *tls_suite);
+#endif
 static tls_psk_key_t *tls_get_key(uint16_t key_id);
 
 tls_session_t *amr_tls_session_allocate(void)
@@ -171,7 +173,7 @@ void tls_finnish_copy(uint8_t *ptr, tls_heap_t *heap_ptr)
 
 }
 
-uint8_t tls_parse_client_hello(uint8_t *ptr, uint16_t len, sec_suite_t *tls_suite)
+static uint8_t tls_parse_client_hello(uint8_t *ptr, uint16_t len, sec_suite_t *tls_suite)
 {
     uint8_t ret_val = 0, i = 0;
     uint16_t tls_version;
@@ -548,6 +550,7 @@ uint8_t tls_parse_server_key_exchange(uint8_t *ptr, uint16_t len, sec_suite_t *t
     return 0;
 }
 
+#ifdef ECC
 static uint8_t tls_parse_client_key_exchange(uint8_t *ptr, uint16_t len, sec_suite_t *tls_suite)
 {
     (void)len;
@@ -567,6 +570,7 @@ static uint8_t tls_parse_client_key_exchange(uint8_t *ptr, uint16_t len, sec_sui
 
     return 0;
 }
+#endif
 
 
 void tls_read_certi_signature(tls_heap_t *theap, uint8_t certificate)
@@ -589,8 +593,8 @@ void tls_read_certi_signature(tls_heap_t *theap, uint8_t certificate)
 
 }
 
-
-uint8_t tls_parse_certificate_verify(uint8_t *ptr, uint16_t len, sec_suite_t *tls_suite)
+#ifdef ECC
+static uint8_t tls_parse_certificate_verify(uint8_t *ptr, uint16_t len, sec_suite_t *tls_suite)
 {
     (void)len;
     uint16_t sig_algh, sig_len;
@@ -653,7 +657,7 @@ uint8_t tls_parse_certificate_verify(uint8_t *ptr, uint16_t len, sec_suite_t *tl
     }
     return 1;
 }
-
+#endif
 
 tls_ecc_heap_t *ecc_allocate_ram(void)
 {
@@ -1690,6 +1694,7 @@ buffer_t *tls_server_up(buffer_t *buf, sec_suite_t *tls_suite)
         buf = tls_certificate_buffer_store(buf, certi_rx, tls_suite);
     }
 #else
+    (void)tls_suite;
     if (buf) {
         buf = buffer_free(buf);
     }
diff --git a/features/nanostack/sal-stack-nanostack/source/Service_Libs/fhss/fhss_ws.h b/features/nanostack/sal-stack-nanostack/source/Service_Libs/fhss/fhss_ws.h
index c81bac463e..e9751bb151 100644
--- a/features/nanostack/sal-stack-nanostack/source/Service_Libs/fhss/fhss_ws.h
+++ b/features/nanostack/sal-stack-nanostack/source/Service_Libs/fhss/fhss_ws.h
@@ -22,7 +22,7 @@
 // Max TX/RX slot length in milliseconds. Is used when datarate is not given by PHY or calculated slot length exceeds maximum allowed.
 #define WS_TXRX_SLOT_LEN_MS_MAX         100
 // Min TX/RX slot length in milliseconds. Is used when calculated slot length is under minimum allowed.
-#define WS_TXRX_SLOT_LEN_MS_MIN         10
+#define WS_TXRX_SLOT_LEN_MS_MIN         13
 // Default minimum broadcast synchronization interval in seconds
 #define DEFAULT_MIN_SYNCH_INTERVAL      60
 // Drift compensation allowed if at least SYNCH_COMPENSATION_MIN_INTERVAL (seconds) since last synchronization
diff --git a/features/nanostack/sal-stack-nanostack/source/Service_Libs/nd_proxy/nd_proxy.h b/features/nanostack/sal-stack-nanostack/source/Service_Libs/nd_proxy/nd_proxy.h
index b92ead820e..004d10f325 100644
--- a/features/nanostack/sal-stack-nanostack/source/Service_Libs/nd_proxy/nd_proxy.h
+++ b/features/nanostack/sal-stack-nanostack/source/Service_Libs/nd_proxy/nd_proxy.h
@@ -142,9 +142,9 @@ bool nd_proxy_upstream_route_onlink(int8_t downstream_id, uint8_t *address);
 NS_DUMMY_DEFINITIONS_OK
 
 #define nd_proxy_downstream_interface_register(interface_id, nd_proxy_req, bridge_state_update) -1
-#define nd_proxy_downstream_interface_unregister(interface_id) -1
-#define nd_proxy_upstream_interface_register(interface_id, route_validation_req) -1
-#define nd_proxy_upstream_interface_unregister(interface_id) -1
+#define nd_proxy_downstream_interface_unregister(interface_id) (-1)
+#define nd_proxy_upstream_interface_register(interface_id, route_validation_req) (-1)
+#define nd_proxy_upstream_interface_unregister(interface_id) (-1)
 #define nd_proxy_enabled_for_downstream(interface_id) false
 #define nd_proxy_enabled_for_upstream(interface_id) false
 #define nd_proxy_target_address_validation(upstream_id, address) false
diff --git a/features/nanostack/sal-stack-nanostack/source/libNET/src/ns_net.c b/features/nanostack/sal-stack-nanostack/source/libNET/src/ns_net.c
index b863aa2992..09c3fc1b7b 100644
--- a/features/nanostack/sal-stack-nanostack/source/libNET/src/ns_net.c
+++ b/features/nanostack/sal-stack-nanostack/source/libNET/src/ns_net.c
@@ -1072,7 +1072,7 @@ int8_t arm_network_certificate_revocation_list_remove(const arm_cert_revocation_
  */
 int8_t arm_network_key_get(int8_t interface_id, ns_keys_t *key)
 {
-#ifndef PANA
+#ifndef PANA_SERVER
     (void)interface_id;
     (void)key;
 #endif
@@ -1081,7 +1081,7 @@ int8_t arm_network_key_get(int8_t interface_id, ns_keys_t *key)
 
 int8_t arm_pana_server_library_init(int8_t interface_id, net_tls_cipher_e cipher_mode, const uint8_t *key_material, uint32_t time_period_before_activate_key)
 {
-#ifndef PANA
+#ifndef PANA_SERVER
     (void)interface_id;
     (void)cipher_mode;
     (void)key_material;
@@ -1092,7 +1092,7 @@ int8_t arm_pana_server_library_init(int8_t interface_id, net_tls_cipher_e cipher
 
 int8_t arm_pana_activate_new_key(int8_t interface_id)
 {
-#ifndef PANA
+#ifndef PANA_SERVER
     (void)interface_id;
 #endif
     return  pana_server_trig_new_key(interface_id);
@@ -1100,7 +1100,7 @@ int8_t arm_pana_activate_new_key(int8_t interface_id)
 
 int8_t arm_pana_server_key_update(int8_t interface_id, const uint8_t *network_key_material)
 {
-#ifndef PANA
+#ifndef PANA_SERVER
     (void)interface_id;
     (void)network_key_material;
 #endif
@@ -1199,7 +1199,7 @@ int8_t arm_6lowpan_bootsrap_set_for_selected_interface(int8_t interface_id)
 int8_t arm_nwk_interface_configure_6lowpan_bootstrap_set(int8_t interface_id, net_6lowpan_mode_e bootstrap_mode, net_6lowpan_mode_extension_e net_6lowpan_mode_extension)
 {
     int8_t ret_val;
-
+    (void)bootstrap_mode;
     ret_val = arm_6lowpan_bootsrap_set_for_selected_interface(interface_id);
 
     if (ret_val == 0) {