diff --git a/software/firmware/.cproject b/software/firmware/.cproject
index 24374169..ae4bc7cb 100644
--- a/software/firmware/.cproject
+++ b/software/firmware/.cproject
@@ -377,6 +377,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="full_exp" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>${cross_make}</buildCommand>
+				<buildArguments>BUILT_BY=eclipse BOARD_REV=M</buildArguments>
+				<buildTarget>full_exp</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 		</buildTargets>
 	</storageModule>
 </cproject>
\ No newline at end of file
diff --git a/software/firmware/src/tasks/app_task_ranging.c b/software/firmware/src/tasks/app_task_ranging.c
index 68042912..e3457077 100644
--- a/software/firmware/src/tasks/app_task_ranging.c
+++ b/software/firmware/src/tasks/app_task_ranging.c
@@ -325,17 +325,27 @@ void app_download_log_file(uint32_t start_time, uint32_t end_time)
    }
 }
 
-void app_switch_mode(uint8_t command)
+void app_allow_downloads(bool allow)
 {
-   if (command==1)
-   {  //enable data downloading from ranging mode
-
-      //disable storage writing
+   // Enable data downloading from ranging mode
+   if (allow)
+   {
+      // Disable writing to storage
       storage_disable(true);
       storage_enter_maintenance_mode();
-      //stop imu
+
+      // Stop IMU
       imu_deinit();
    }
+   else
+   {
+      // Start IMU
+      imu_init();
+
+      // Enable writing to storage
+      storage_exit_maintenance_mode();
+      storage_disable(false);
+   }
 }
 
 void AppTaskRanging(void *uid)
diff --git a/software/firmware/src/tasks/app_tasks.h b/software/firmware/src/tasks/app_tasks.h
index b599c8e0..0ffe54ad 100644
--- a/software/firmware/src/tasks/app_tasks.h
+++ b/software/firmware/src/tasks/app_tasks.h
@@ -36,7 +36,7 @@ typedef struct __attribute__ ((__packed__))
 void app_notify(app_notification_t notification, bool from_isr);
 void app_activate_find_my_tottag(uint32_t seconds_to_activate);
 void app_download_log_file(uint32_t start_time, uint32_t end_time);
-void app_switch_mode(uint8_t command);
+void app_allow_downloads(bool allow);
 uint32_t app_get_experiment_time(int32_t offset);
 uint32_t app_experiment_time_to_rtc_time(uint32_t experiment_time);
 
diff --git a/software/firmware/src/tasks/bluetooth/live_stats_functionality.c b/software/firmware/src/tasks/bluetooth/live_stats_functionality.c
index 10c6bbe4..7dac9581 100644
--- a/software/firmware/src/tasks/bluetooth/live_stats_functionality.c
+++ b/software/firmware/src/tasks/bluetooth/live_stats_functionality.c
@@ -31,7 +31,7 @@ uint8_t handleLiveStatsWrite(dmConnId_t connId, uint16_t handle, uint8_t operati
       rtc_set_time_from_timestamp(*(uint32_t*)pValue);
 #ifdef _REMOTE_MODE_SWITCH_ENABLED
    else if (handle == APP_MODE_SWITCH_HANDLE)
-      app_switch_mode(*(uint8_t*)pValue);
+      app_allow_downloads(*(uint8_t*)pValue);
 #endif
    return ATT_SUCCESS;
 }
diff --git a/software/firmware/tests/Makefile b/software/firmware/tests/Makefile
index 1326b800..ee6b39eb 100644
--- a/software/firmware/tests/Makefile
+++ b/software/firmware/tests/Makefile
@@ -251,12 +251,12 @@ SRC += storage_task.c
 SRC += subscription_phase.c
 SRC += time_aligned_task.c
 
-.PHONY: all program clean battery ble_and_range ble_reset bluetooth button buzzer full full_segger imu led logging power_off ranging ranging_radio ranging_power rtc_set rtc storage system
+.PHONY: all program clean battery ble_and_range ble_reset bluetooth button buzzer full full_segger full_exp imu led logging power_off ranging ranging_radio ranging_power rtc_set rtc storage system
 .PRECIOUS: $(CONFIG)/%.axf
 .SECONDEXPANSION:
 
 all:
-	$(error Make targets include: battery ble_and_range ble_reset bluetooth button buzzer full full_segger imu led logging power_off ranging ranging_radio ranging_power rtc_set rtc storage system)
+	$(error Make targets include: battery ble_and_range ble_reset bluetooth button buzzer full full_segger full_exp imu led logging power_off ranging ranging_radio ranging_power rtc_set rtc storage system)
 
 # TODO: Create separate targets for non-flashing versions
 program: