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Thanks for the suggestions, I tried each of them with no luck, but I managed to fix it by travelling to Windhelm, talking to Ulfric and then walking (not fast travelling) all the way from Windhelm to the Falkreath Stormcloak camp.
I'm currently on the 'Liberation of Skyrim' quest, have completed the liberation of Whiterun and reported to Ulfric. He told me to go to the Falkreath Stormcloak camp and receive my orders from Galmar, but Galmar is nowhere to be found in the camp. The indicator arrow points to an empty piece...