diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index 4115f39772cb355b9ca1f68a2af84eb860d1f923..892373945d90e04dfd7c981af6081f9864aa32d9 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -29,6 +29,8 @@ private:
     Ui::MainWindow *ui;
 
     rosNodeThread* m_rosNodeThread;
+
+    ros::Publisher crazyRadioCommandPublisher;
 };
 
 #endif // MAINWINDOW_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 534f96edc409d4f168a2bd94f1f20587cb169387..f045fb5211933a9451e59650d86a8f33e15b11ca 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -14,6 +14,10 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     m_rosNodeThread->init();
     qRegisterMetaType<ptrToMessage>("ptrToMessage");
     QObject::connect(m_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
+
+    ros::NodeHandle nh("~");
+
+    crazyRadioCommandPublisher = nh.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
 }
 
 MainWindow::~MainWindow()
@@ -27,11 +31,8 @@ void MainWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to ne
 
 void MainWindow::on_RF_Connect_button_clicked()
 {
-    ros::NodeHandle nh("~");
-    ros::Publisher crazyRadioCommandPublisher = nh.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
-
     std_msgs::Int32 msg;
     msg.data = CMD_RECONNECT;
-    crazyRadioCommandPublisher.publish(msg);
+    this->crazyRadioCommandPublisher.publish(msg);
     ROS_INFO("command reconnect published");
 }
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index 0c712613f376ea47d3da1190f11d606cae8740b2..75b5191ef8cfacc0dbe5e4a21ef18730e9167b53 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -70,6 +70,7 @@ class PPSRadioClient:
         self.motor3cmd = 0.0
         self.motor4cmd = 0.0
         self.status = DISCONNECTED
+        self.link_uri = link_uri
 
         # Initialize the CrazyFlie and add callbacks
         self._cf = Crazyflie()
@@ -87,7 +88,8 @@ class PPSRadioClient:
 
     def connect(self):
         self.status = CONNECTING
-        self._cf.open_link(link_uri)
+        rospy.loginfo("connecting...")
+        self._cf.open_link(self.link_uri)
 
     def _data_received_callback(self, timestamp, data, logconf):
         #print "log of stabilizer and battery: [%d][%s]: %s" % (timestamp, logconf.name, data)
@@ -141,11 +143,13 @@ class PPSRadioClient:
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
         at the specified address)"""
+        self.status = DISCONNECTED
         rospy.logerr("Connection to %s failed: %s" % (link_uri, msg))
 
     def _connection_lost(self, link_uri, msg):
         """Callback when disconnected after a connection has been made (i.e
         Crazyflie moves out of range)"""
+        self.status = DISCONNECTED
         rospy.logerr("Connection to %s lost: %s" % (link_uri, msg))
 
     def _disconnected(self, link_uri):
@@ -163,12 +167,15 @@ class PPSRadioClient:
         pk.data = struct.pack('<fffHHHHHH', roll * RAD_TO_DEG, pitch * RAD_TO_DEG, yaw * RAD_TO_DEG, thrust, cmd1, cmd2, cmd3, cmd4, mode)
         self._cf.send_packet(pk)
 
-def crazyRadioCommandCallback(data):
+    def crazyRadioCommandCallback(self, msg):
         """Callback to tell CrazyRadio to reconnect"""
-        print "crazyRadio command received"
-        if data == CMD_RECONNECT:            # reconnect, check status first and then do whatever needs to be done
-            if cf_client.status == DISCONNECTED:
-                cf_client.connect()
+        print "crazyRadio command received %s" % msg.data
+        if msg.data == CMD_RECONNECT:            # reconnect, check status first and then do whatever needs to be done
+            print "entered reconnect"
+            print "status: %s" % self.status
+            if self.status == DISCONNECTED:
+                print "entered disconnected"
+                self.connect()
 
 def controlCommandCallback(data):
     """Callback for controller actions"""
@@ -204,7 +211,8 @@ if __name__ == '__main__':
     global cf_client
 
     cf_client = PPSRadioClient(radio_address)
-    rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, crazyRadioCommandCallback)
+    rospy.Subscriber("student_GUI/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from student_GUI
+    rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from scripts
 
     time.sleep(1.0)