Index: modules/taxonomy.module
===================================================================
--- modules/taxonomy.module	(revision 6426)
+++ modules/taxonomy.module	(working copy)
@@ -1188,6 +1188,42 @@
   }
 }
 
+function taxonomy_breadcrumb_on_term($term) {
+    // Extract lightest term from lightest vocabulary assosciated with node.
+    //$term = taxonomy_context_node_get_lightest_term($nid);
+    // term->tid , term->vid, 
+
+    // HOME breadcrumb generation
+    $home_text = variable_get('taxonomy_breadcrumb_home', '');
+    if ($home_text != '') {
+      $breadcrumb[] = l($home_text, NULL);
+    }
+
+    // VOCABULARY breadcrumb generation
+    $vocabulary_path = taxonomy_breadcrumb_get_vocabulary_path($term->vid);
+    if ($vocabulary_path != NULL) {
+      $vocabulary = taxonomy_get_vocabulary($term->vid);
+      $breadcrumb[] = l($vocabulary->name, $vocabulary_path);      
+    }
+
+    // TERM breadcrumb generation
+    $parent_terms = array_reverse(taxonomy_get_parents_all($term->tid));
+    foreach ($parent_terms as $parent_term) {
+      $term_path = taxonomy_breadcrumb_get_term_path($parent_term->tid);
+      if ($term_path == NULL) {
+        $term_path = "taxonomy/term/$parent_term->tid";
+      }
+      $breadcrumb[] = l($parent_term->name, $term_path);
+    }
+
+    // Remove current TERM from end of breadcrumb trail
+    if (!variable_get('taxonomy_breadcrumb_show_current_term', TRUE)) {
+      array_pop($breadcrumb);
+    }
+
+    drupal_set_breadcrumb($breadcrumb);
+}
+
 /**
  * Menu callback; displays all nodes associated with a term.
  */
@@ -1221,6 +1257,7 @@
         case 'page':
           // Build breadcrumb based on first hierarchy of first term:
           $current->tid = $tids[0];
+          $store_current = $current;
           $breadcrumbs = array(array('path' => $_GET['q']));
           while ($parents = taxonomy_get_parents($current->tid)) {
             $current = array_shift($parents);
@@ -1228,6 +1265,8 @@
           }
           $breadcrumbs = array_reverse($breadcrumbs);
           menu_set_location($breadcrumbs);
+          // HACK by ps note: here, current points to outer child !
+          taxonomy_breadcrumb_on_term( $store_current );
 
           drupal_add_link(array('rel' => 'alternate',
                                 'type' => 'application/rss+xml',
Index: includes/menu.inc
===================================================================
--- includes/menu.inc	(revision 6426)
+++ includes/menu.inc	(working copy)
@@ -537,7 +537,7 @@
   // We do *not* want to use "variable_get('site_frontpage', 'node)" here
   // as that will create the link '/node'. This is unsightly and creates
   // a second URL for the homepage ('/' *and* '/node').
-  $links[] = l(t('Home'), '');
+  $links[] = l(t('Orocos.org'), '');
 
   $trail = _menu_get_active_trail();
   foreach ($trail as $mid) {