diff --git a/GUI/server/odrive_server.py b/GUI/server/odrive_server.py
index 0ee37692..7501d7fa 100644
--- a/GUI/server/odrive_server.py
+++ b/GUI/server/odrive_server.py
@@ -58,8 +58,12 @@ def discovered_device(device):
     while globals()['inUse']:
         time.sleep(0.1)
     globals()['odrives'][odrive_name] = device
+    globals()['odrives_status'][odrive_name] = True
     print("Found " + str(serial_number))
     print("odrive list: " + str([key for key in globals()['odrives'].keys()]))
+    # tell GUI the status of known ODrives (previously connected and then disconnected ODrives will be "False")
+    socketio.emit('odrives-status', json.dumps(globals()['odrives_status']))
+    # triggers a getODrives socketio message
     socketio.emit('odrive-found')
 
 def start_discovery():
@@ -68,9 +72,12 @@ def start_discovery():
     shutdown = fibre.Event()
     fibre.find_all("usb", None, discovered_device, shutdown, shutdown, log)
 
-def handle_disconnect():
+def handle_disconnect(odrive_name):
     print("lost odrive")
-    #socketio.emit('odrive-disconnected')
+    globals()['odrives_status'][odrive_name] = False
+    # emit the whole list of odrive statuses
+    # in the GUI, mark and use status as ODrive state.
+    socketio.emit('odrives-status', json.dumps(globals()['odrives_status']))
 
 @socketio.on('findODrives')
 def getODrives(message):
@@ -115,8 +122,9 @@ def get_odrives(data):
     odriveDict = {}
     #for (index, odrv) in enumerate(globals()['odrives']):
     #    odriveDict["odrive" + str(index)] = dictFromRO(odrv)
-    for key in globals()['odrives'].keys():
-        odriveDict[key] = dictFromRO(globals()['odrives'][key])
+    for key in globals()['odrives_status'].keys():
+        if globals()['odrives_status'][key] == True:
+            odriveDict[key] = dictFromRO(globals()['odrives'][key])
     globals()['inUse'] = False
     emit('odrives', json.dumps(odriveDict))
 
@@ -126,10 +134,11 @@ def get_property(message):
     # will be {"path": "odriveX.axisY.blah.blah"}
     while globals()['inUse']:
         time.sleep(0.1)
-    globals()['inUse'] = True
-    val = getVal(globals()['odrives'], message["path"].split('.'))
-    globals()['inUse'] = False
-    emit('ODriveProperty', json.dumps({"path": message["path"], "val": val}))
+    if globals()['odrives_status'][message["path"].split('.')[0]]:
+        globals()['inUse'] = True
+        val = getVal(globals()['odrives'], message["path"].split('.'))
+        globals()['inUse'] = False
+        emit('ODriveProperty', json.dumps({"path": message["path"], "val": val}))
 
 @socketio.on('setProperty')
 def set_property(message):
@@ -194,7 +203,7 @@ def postVal(odrives, keyList, value, argType):
         else:
             pass # dont support that type yet
     except fibre.protocol.ChannelBrokenException:
-        handle_disconnect()
+        handle_disconnect(odrv)
     except:
         print("exception in postVal")
 
@@ -210,7 +219,7 @@ def getVal(odrives, keyList):
         else:
             return RO.get_value()
     except fibre.protocol.ChannelBrokenException:
-        handle_disconnect()
+        handle_disconnect(odrv)
     except:
         print("exception in getVal")
         return 0
@@ -235,7 +244,7 @@ def callFunc(odrives, keyList):
         if isinstance(RO, fibre.remote_object.RemoteFunction):
             RO.__call__()
     except fibre.protocol.ChannelBrokenException:
-        handle_disconnect()
+        handle_disconnect(odrv)
     except:
         print("fcn call failed")
 
@@ -252,7 +261,11 @@ if __name__ == "__main__":
     import odrive.utils # for dump_errors()
     import fibre
 
+    # global for holding references to all connected odrives
     globals()['odrives'] = {}
+    # global dict {'odriveX': True/False} where True/False reflects status of connection
+    # on handle_disconnect, set it to False. On connection, set it to True
+    globals()['odrives_status'] = {}
     globals()['discovered_devices'] = []
     # spinlock
     globals()['inUse'] = False
diff --git a/GUI/src/App.vue b/GUI/src/App.vue
index 2c9f52e6..fd64070a 100644
--- a/GUI/src/App.vue
+++ b/GUI/src/App.vue
@@ -56,9 +56,6 @@
         :axis="axis.name"
         :odrives="odrives"
       ></Axis>
-      <!--<div class="odrive-status">
-        ODrive:{{ODriveConnected}}
-      </div>-->
     </div>
   </div>
 </template>
@@ -129,22 +126,6 @@ export default {
     currentDash: function () {
       return this.$store.state.currentDash;
     },
-    ODriveConnected: function () {
-      // if server and odrive disconnected, disconnected
-      // if server connected and odrive disco, connecting
-      // if server and odrive connected, connected
-      let ret;
-      if (this.$store.state.serverConnected && this.$store.state.ODriveConnected) {
-        ret = "connected";
-      }
-      else if (this.$store.state.serverConnected && !this.$store.state.ODriveConnected) {
-        ret = "connecting...";
-      }
-      else {
-        ret = "disconnected";
-      }
-      return ret;
-    },
     samplingText: function () {
       let ret;
       if (this.$store.state.sampling) {
diff --git a/GUI/src/components/Axis.vue b/GUI/src/components/Axis.vue
index 2ee3503a..8d0806ba 100644
--- a/GUI/src/components/Axis.vue
+++ b/GUI/src/components/Axis.vue
@@ -2,7 +2,7 @@
   <div
     class="axis"
     @click.self="showError = !showError;"
-    :class="{ noError: !error, error: error}"
+    :class="{inactive: !connected, noError: !error, error: error}"
   >
     {{ axis }}
     <div v-show="showError" class="error-popup card" @click.self="showError = !showError">
@@ -110,6 +110,9 @@ export default {
     };
   },
   computed: {
+    connected() {
+      return this.$store.state.ODrivesConnected[this.axis.split('.')[0]];
+    },
     axisErrorMsg() {
       let retMsg = "none";
       let errCode = this.axisErr;
@@ -229,14 +232,18 @@ export default {
   created() {
     // set up timeout loop for grabbing axis error values
     let update = () => {
-      fetchParam(this.axis + ".error");
-      fetchParam(this.axis + '.motor.error');
-      fetchParam(this.axis + '.controller.error');
-      fetchParam(this.axis + '.encoder.error');
-      this.axisErr = getVal(this.axis + '.error');
-      this.motorErr = getVal(this.axis + '.motor.error');
-      this.controllerErr = getVal(this.axis + '.controller.error');
-      this.encoderErr = getVal(this.axis + '.encoder.error');
+      // Do we have an active connection to the ODrive that contains this axis?
+      if (this.$store.state.ODrivesConnected[this.axis.split('.')[0]]) {
+        fetchParam(this.axis + ".error");
+        fetchParam(this.axis + '.motor.error');
+        fetchParam(this.axis + '.controller.error');
+        fetchParam(this.axis + '.encoder.error');
+        this.axisErr = getVal(this.axis + '.error');
+        this.motorErr = getVal(this.axis + '.motor.error');
+        this.controllerErr = getVal(this.axis + '.controller.error');
+        this.encoderErr = getVal(this.axis + '.encoder.error');
+      }
+      // ODrive not connected
       setTimeout(update, 1000);
     }
     update();
@@ -270,4 +277,8 @@ export default {
   color: black;
   margin-left: 0px;
 }
+
+.inactive {
+  color: grey;
+}
 </style>
\ No newline at end of file
diff --git a/GUI/src/components/actions/Action.vue b/GUI/src/components/actions/Action.vue
index ce896c31..d78948b6 100644
--- a/GUI/src/components/actions/Action.vue
+++ b/GUI/src/components/actions/Action.vue
@@ -40,7 +40,7 @@ export default {
   methods: {
     newVal: function (e) {
       let val = parseMath(e.target.value);
-      if (val != false) {
+      if (val !== false) {
         this.value = val;
         console.log("input = " + e.target.value + ", val = " + this.value);
         this.$store.commit("setActionVal", {dashID: this.dashID, actionID: this.id, val: this.value});
diff --git a/GUI/src/components/controls/CtrlNumeric.vue b/GUI/src/components/controls/CtrlNumeric.vue
index 752dbce6..2e3af0a6 100644
--- a/GUI/src/components/controls/CtrlNumeric.vue
+++ b/GUI/src/components/controls/CtrlNumeric.vue
@@ -47,8 +47,9 @@ export default {
     putVal: function (e) {
       let keys = this.path.split('.');
       keys.shift();
+      console.log("input recieved: " + e.target.value);
       let val = parseMath(e.target.value);
-      if (val != false) {
+      if (val !== false) {
         putVal(keys.join('.'), val);
       }
     },
diff --git a/GUI/src/components/wizard/choices/wizardBrake.vue b/GUI/src/components/wizard/choices/wizardBrake.vue
index caef2057..42a69e73 100644
--- a/GUI/src/components/wizard/choices/wizardBrake.vue
+++ b/GUI/src/components/wizard/choices/wizardBrake.vue
@@ -37,7 +37,7 @@ export default {
     setBR(e) {
       console.log("from setBR " + e.target.value);
       let val = parseMath(e.target.value);
-      if (val != false) {
+      if (val !== false) {
         this.brake_resistance = val;
         let configStub = undefined;
         configStub = {
diff --git a/GUI/src/components/wizard/choices/wizardEncoderIncremental.vue b/GUI/src/components/wizard/choices/wizardEncoderIncremental.vue
index 6395f921..2c296abd 100644
--- a/GUI/src/components/wizard/choices/wizardEncoderIncremental.vue
+++ b/GUI/src/components/wizard/choices/wizardEncoderIncremental.vue
@@ -26,7 +26,7 @@ export default {
   methods: {
     setCPR(e) {
       let val = parseMath(e.target.value);
-      if (val != false) {
+      if (val !== false) {
         this.cpr = val;
         let configStub = undefined;
         if (this.data.axis == "axis0") {
diff --git a/GUI/src/components/wizard/choices/wizardEncoderIncrementalIndex.vue b/GUI/src/components/wizard/choices/wizardEncoderIncrementalIndex.vue
index 79baa12a..85357d41 100644
--- a/GUI/src/components/wizard/choices/wizardEncoderIncrementalIndex.vue
+++ b/GUI/src/components/wizard/choices/wizardEncoderIncrementalIndex.vue
@@ -27,7 +27,7 @@ export default {
   methods: {
     setCPR(e) {
       let val = parseMath(e.target.value);
-      if (val != false) {
+      if (val !== false) {
         this.cpr = val;
         let configStub = undefined;
         if (this.data.axis == "axis0") {
diff --git a/GUI/src/components/wizard/choices/wizardMisc.vue b/GUI/src/components/wizard/choices/wizardMisc.vue
index 9aa8f39f..f5aaa484 100644
--- a/GUI/src/components/wizard/choices/wizardMisc.vue
+++ b/GUI/src/components/wizard/choices/wizardMisc.vue
@@ -100,7 +100,7 @@ export default {
     },
     setVelocityLimit(e) {
       let val = parseMath(e.target.value);
-      if (val != false) {
+      if (val !== false) {
         this.vel_limit = parseFloat(e.target.value);
         this.vel_set = true;
         this.sendConfig();
@@ -108,7 +108,7 @@ export default {
     },
     setCurrentLimit(e) {
       let val = parseMath(e.target.value);
-      if (val != false) {
+      if (val !== false) {
         this.current_lim = parseFloat(e.target.value);
         this.current_set = true;
         this.sendConfig();
diff --git a/GUI/src/lib/odrive_utils.js b/GUI/src/lib/odrive_utils.js
index 8f1993e2..e022425a 100644
--- a/GUI/src/lib/odrive_utils.js
+++ b/GUI/src/lib/odrive_utils.js
@@ -6,11 +6,17 @@ import * as socketio from "../comms/socketio.js";
 // given a path like "odrive0.axis0.config.blah", return the value
 export function getParam(path) {
     let keys = path.split('.');
-    let odriveObj = store.state.odrives;
-    for (const key of keys) {
-        odriveObj = odriveObj[key];
+    if (store.state.ODrivesConnected[keys[0]]) {
+        let odriveObj = store.state.odrives;
+        for (const key of keys) {
+            odriveObj = odriveObj[key];
+        }
+        return odriveObj;
+    }
+    else {
+        console.log("getParam for " + path + " is for disconnected ODrive");
+        return undefined;
     }
-    return odriveObj;
 }
 
 // wrapper for val field
@@ -51,10 +57,15 @@ export function parseMath(inString) {
 
 export function putVal(path, value) {
     console.log("path: " + path + ", val: " + value + ", type: " + typeof value);
-    socketio.sendEvent({
-        type: "setProperty",
-        data: {path: path, val: value, type: typeof value}
-    })
+    if (store.state.ODrivesConnected[path.split('.')[0]]) {
+        socketio.sendEvent({
+            type: "setProperty",
+            data: {path: path, val: value, type: typeof value}
+        });
+    }
+    else {
+        console.log("requesting " + path + " from disconnected odrive")
+    }
 }
 
 // path is path to function, args is list of parameters
diff --git a/GUI/src/store.js b/GUI/src/store.js
index 21b10b97..16be7562 100644
--- a/GUI/src/store.js
+++ b/GUI/src/store.js
@@ -21,7 +21,7 @@ export default new Vuex.Store({
         axes: Array,
         odriveServerAddress: String,
         serverConnected: Boolean,
-        ODriveConnected: false,
+        ODrivesConnected: Object,
         serverOutput: [],
         dashboards: [
             {
@@ -95,6 +95,13 @@ export default new Vuex.Store({
             state.odriveConfigs['writeAble'] = payload.writeAble;
             state.odriveConfigs['writeAbleNumeric'] = payload.writeAbleNumeric;
         },
+        setODrivesStatus(state, obj) {
+            // obj is {"odriveX": true/false}
+            for (const odrive of Object.keys(obj)){
+                state.ODrivesConnected[odrive] = obj[odrive];
+                console.log(state.ODrivesConnected);
+            }
+        },
         setAxes(state, axes) {
             state.axes = axes;
         },
@@ -163,9 +170,6 @@ export default new Vuex.Store({
         setServerStatus(state, val) {
             state.serverConnected = val;
         },
-        setODriveConnected(state, val) {
-            state.ODriveConnected = val;
-        },
         removeCtrlFromDash(state, obj) {
             // obj is {dash: dashID, path: control path}
             for (const dash of state.dashboards) {
@@ -325,7 +329,6 @@ export default new Vuex.Store({
                 type: "odrive-found",
                 callback: () => {
                     console.log("odrive-found recieved from server");
-                    context.commit("setODriveConnected", true);
                     context.dispatch("getOdrives");
                 }
             })
@@ -370,15 +373,21 @@ export default new Vuex.Store({
             });
             socketio.addEventListener({
                 type: "odrive-disconnected",
-                callback: () => {
-                    console.log("odrive disconnected");
-                    context.commit("setODriveConnected", false);
-                    console.log("restarting server...");
-                    window.ipcRenderer.send('kill-server');
-                    window.ipcRenderer.send('start-server');
-                    context.dispatch('setServerAddress', context.state.odriveServerAddress);
+                callback: (odrive_name) => {
+                    console.log(odrive_name + " disconnected");
+                    //console.log("restarting server...");
+                    //window.ipcRenderer.send('kill-server');
+                    //window.ipcRenderer.send('start-server');
+                    //context.dispatch('setServerAddress', context.state.odriveServerAddress);
                 }
-            })
+            });
+            socketio.addEventListener({
+                type: "odrives-status",
+                callback: (odrives_status) => {
+                    console.log("From odrives-status msg " + odrives_status);
+                    context.commit('setODrivesStatus', JSON.parse(odrives_status));
+                }
+            });
         }
     }
 })
\ No newline at end of file