diff --git a/src/openmv/camera.py b/src/openmv/camera.py
index fd1aa20..dbc3c92 100644
--- a/src/openmv/camera.py
+++ b/src/openmv/camera.py
@@ -51,6 +51,7 @@ def __init__(self, port, baudrate=921600,
         self.verinfo = {}
         self.transport = None
         self.frame_event = False
+        self.resync_pending = False
 
     def __enter__(self):
         """Context manager entry"""
@@ -82,6 +83,14 @@ def _send_cmd_wait_resp(self, opcode, channel=0, data=b''):
         if not self.is_connected():
             raise OMVException("Not connected")
 
+        # The device announced a soft reboot: its protocol state (sequence,
+        # capabilities, dynamic channels) is reset once it is back. Start the
+        # next command with a resync so both sides agree again.
+        if self.resync_pending:
+            # Clear first: _resync() negotiates capabilities through this function.
+            self.resync_pending = False
+            self._resync()
+
         # Special handling for reset commands - they never return
         if opcode in [Opcode.SYS_RESET, Opcode.SYS_BOOT]:
             self.transport.send_packet(opcode, channel, 0, data)
@@ -109,6 +118,11 @@ def _handle_event(self, channel_id, event):
             # Handle system events
             if event == EventType.SOFT_REBOOT:
                 logging.info("🔥 Soft Reboot triggered")
+                self.resync_pending = True
+                # In-flight packets from the rebooting device restart at 0.
+                self.transport.reset_sequence()
+                # The reboot drops every dynamic channel: refresh the list.
+                self.pending_channel_events += 1
             elif event == EventType.CHANNEL_REGISTERED:
                 self.pending_channel_events += 1
         elif channel_id in self.channels_by_id:
@@ -334,6 +348,10 @@ def stop(self):
         # Stop running script
         stdin_id = self.get_channel(name="stdin")
         self._channel_ioctl(stdin_id, ChannelIOCTL.STDIN_STOP)
+        # Stopping a running script soft-reboots the device. Without events
+        # there is no SOFT_REBOOT notification, so assume a resync is needed.
+        if not self.caps['events']:
+            self.resync_pending = True
 
     @retry_if_failed
     def exec(self, script):
diff --git a/src/openmv/transport.py b/src/openmv/transport.py
index c0121f5..18f7f7a 100644
--- a/src/openmv/transport.py
+++ b/src/openmv/transport.py
@@ -79,9 +79,12 @@ def _check_crc(self, crc, buffer, crc_size=16):
 
     def _check_seq(self, sequence, expected_sequence, opcode, flags):
         """Check if sequence is valid or sequence checking is disabled"""
+        # ACK/NAK packets are accepted with any sequence number: after the
+        # device resets its protocol state (e.g. a soft reboot) its sequence
+        # restarts at 0, and the NAK it sends for our out-of-sequence command
+        # is the only way to learn that a resync is needed.
         return (not self.seq_enabled or
-                (flags & Flags.EVENT) or
-                (flags & Flags.RTX) or
+                (flags & (Flags.EVENT | Flags.RTX | Flags.ACK | Flags.NAK)) or
                 sequence == expected_sequence or
                 opcode == Opcode.PROTO_SYNC)
 
@@ -211,11 +214,13 @@ def recv_packet(self, poll_events=False):
                 else:
                     self.send_packet(packet['opcode'], packet['channel'], Flags.ACK)
 
-            # Handle event packets
+            # Handle event packets. Events do not extend the receive timeout:
+            # a device that keeps emitting events (e.g. stdout notifications
+            # every 50 ms while its output is unread) must not keep a command
+            # waiting for its response forever.
             if packet['flags'] & Flags.EVENT:
                 self.event_callback(packet['channel'], 0xFFFF if not packet['length']
                                     else struct.unpack('<H', packet['payload'])[0])
-                start_time = time.time()
                 continue
 
             # Update sequence after each packet (including fragments)