diff --git a/api/views/index.ejs b/api/views/index.ejs
index 20e43ba1..57ae3022 100644
--- a/api/views/index.ejs
+++ b/api/views/index.ejs
@@ -13,7 +13,7 @@
     <h1 class="header">5G Drone API</h1>
     <!-- <div class="video"> -->
     <div class="mainvideo">
-        <p>Camera view:</p>
+        <p id="cameraview">Camera view:</p>
         <canvas id="result-video" style="border: 1px solid blue;" width="800" height="600"></canvas>
             <div id="connectedbuttons">
                 <div id="connectedstatus">
@@ -64,10 +64,12 @@
     assign_button_callbacks();
     openSocket = () => {
 
+        document.getElementById("cameraview").innerHTML = "Camera view: Connecting...";
         socket = new WebSocket("ws://10.100.0.40:9002/");
         let msg = document.getElementById("result-video");
         socket.addEventListener('open', (e) => {
             console.log("Connected to video")
+            document.getElementById("cameraview").innerHTML = "Camera view: Connected";
         });
         socket.addEventListener('message', (e) => {
             let ctx = msg.getContext("2d");
@@ -78,6 +80,10 @@
                 ctx.drawImage(image, 0, 0, 800, 600);
             });
         });
+        socket.addEventListener('close', (e) => {
+            console.log("Disconnected from video")
+            document.getElementById("cameraview").innerHTML = "Camera view: Disconnected. Reload the page to reconnect";
+        });
     }
 
     // Helper function to decode base64 image and set it as source of <img> element
diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp
index 1e935bec..78d9f8b7 100644
--- a/src/drone_controls/src/PositionChanger.cpp
+++ b/src/drone_controls/src/PositionChanger.cpp
@@ -256,14 +256,14 @@ public:
      */
     void check_lidar_health()
     {
-        if (!this->received_lidar_message && !this->failsafe_enabled && this->lidar_health_checks > 10)
+        if (!this->received_lidar_message && !this->failsafe_enabled && this->lidar_health_checks > 20)
         {
             RCLCPP_WARN(this->get_logger(), "Lidar not sending messages, enabling failsafe");
-            enable_failsafe(u"No healthy connection to LIDAR!");
+            enable_failsafe(u"No healthy connection to LIDAR! Check the LIDAR USB cable and restart the drone.");
         }
         this->received_lidar_message = false;
         this->has_received_first_lidar_message = true;
-        if (this->lidar_health_checks <= 10)
+        if (this->lidar_health_checks <= 20)
         {
             this->lidar_health_checks++;
         }
@@ -297,7 +297,7 @@ public:
         if (!this->failsafe_enabled)
         {
             if (!this->has_received_first_lidar_message) {
-                this->enable_failsafe(u"Waiting for LIDAR timed out! Consider restarting the drone.");
+                this->enable_failsafe(u"Waiting for LIDAR timed out! Check the LIDAR USB connection and consider restarting the drone.");
                 return;
             }
             RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);