Added link to use custom controller and safe controller. Need to see what happens if we change yaml file name on the run

added disconnect command, need to test. Also added protection when disconnected to change flying state. Also buttons are now really disabled when disconnected

Now if the CF disconnects, the state goes back to motors off so when we start over we dont have the device flying

Reconnection working now. Need to discuss if it is better to have scripts called from GUI or the way it is done now