diff --git a/.gitignore b/.gitignore
index c29e49f..a67bf01 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,4 +5,5 @@ pids/
 logs/
 .ipynb_checkpoints
 packages
-*.ipynb
\ No newline at end of file
+*.ipynb
+.idea
\ No newline at end of file
diff --git a/README.md b/README.md
index 60e7519..ca46ca2 100644
--- a/README.md
+++ b/README.md
@@ -1,18 +1,23 @@
 # Preparations before Flight
+
+## Hardware setup
 * turn uadis hotpot on
 * plugin xiaomi repeater "_plus" to powers source
 * connect rpi to power source
 * wait for boot and ams vpn connection
     * until connected devices @uadis increment +1 with device name "uad"
 
-* manual setup:
-    * ssh into     
-    * cd tello-commander
-    * source venv/bin/activate
-    * ./manage.sh connect-drone
-        * ifconfig: check if wlan1 is up
-    * ./manage.sh start-commander
-    * start drone
-        * until repeater lights blue without blinking
-    * ./manage.sh get-dhcp
-    * ./manage start-talikng
+### manual cli-rpi setup:
+ * ssh into     
+ * cd tello-commander
+ * source venv/bin/activate
+ * ./manage.sh connect-drone
+   * ifconfig: check if wlan1 is up
+ * ./manage.sh start-commander
+ * start drone
+   * until repeater lights blue without blinking
+ * ./manage.sh get-dhcp
+ * ./manage start-talikng
+
+### auto chatui-rpi setup:
+* 
diff --git a/brain/brain_base.py b/brain/brain_base.py
index c4d3e15..3aafcb3 100644
--- a/brain/brain_base.py
+++ b/brain/brain_base.py
@@ -1,7 +1,10 @@
+import ast
+import json
 import os
 
-from commander.commands import CommandHandler
+from loguru import logger
 
+from brain.commands import CommandHandler
 
 
 class BaseBrain:
@@ -20,13 +23,48 @@ class BaseBrain:
                 with open(prompt_filepath, "r") as f:
                     return f.read()
 
+    def _is_valid_json(self, answer):
+        try:
+            response_json = json.loads(answer)
+            return True
+        except ValueError as e:
+            logger.error(f"chatgpt failed to return json obj: {answer}")
+            return False
+
+    def _gc(self):
+        self.cmd_prompt = None
+        self.response = None
+
     def is_emergency(self, input):
         if input == "q":
-            print("##### BASE BRAIN: EMERGENCY STOP DETECTED!!! #####")
+            msg = "##### BASE BRAIN: EMERGENCY STOP DETECTED!!! #####"
+            logger.warning(msg)
+            self.response_to_chatui = msg
             self.command_handler.handle({"command": "emergency"})
             return True
         else: 
             return False
 
-    def listen(self):
-        self.cmd_prompt = input("\n\nwhat should I do now?\n(enter q for emergency)\n\t")
+    def listen(self, channel="cli", prompt=None):
+        if channel == "cli":
+            self.cmd_prompt = input("\n\nwhat should I do now?\n(enter q for emergency)\n\t")
+        elif channel == "api":
+            self.cmd_prompt = prompt
+
+    def command(self):
+        if self._is_valid_json(self.answer):
+            command = ast.literal_eval(self.answer)
+            if command == {}:
+                msg = f"I failed to understand: {command}"
+                logger.warning(msg)
+                self.response_to_chatui = msg
+            else:
+                msg = f"I will send this command: {command}"
+                logger.success(msg)
+                self.response_to_chatui = msg
+                self.command_handler.handle(command)
+        else:
+            msg = f"\tI will skip this:\n {self.answer}"
+            logger.warning(msg)
+            self.response_to_chatui = msg
+        self._gc()
\ No newline at end of file
diff --git a/brain/brain_openai.py b/brain/brain_openai.py
index 0635467..7c60f72 100644
--- a/brain/brain_openai.py
+++ b/brain/brain_openai.py
@@ -1,10 +1,9 @@
 import os
 import sys
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-import json
-import ast
 
 import openai
+from loguru import logger
 
 from brain_base import BaseBrain
 from settings.config import settings
@@ -13,48 +12,25 @@ from settings.config import settings
 
 class CloudSTTBrain:
     def __init__(self):
-        print("not implemented")
+        logger.error("not implemented")
 
 
 class CloudChatBrain(BaseBrain):
-
     def __init__(self):
         super().__init__() 
         openai.api_key = settings.OPENAI_API_KEY
 
-    def _is_valid_json(self, answer):
-        try:
-            response_json = json.loads(answer)
-            return True
-        except ValueError as e:
-            print(f"chatgpt failed to return json obj: {answer}")
-            return False
-
-    def _gc(self):
-        self.cmd_prompt = None
-        self.response = None
-
     def understand(self):
+        ## BURADA TRY:EXCEPT BLOCKU GEREKİR
         self.response = openai.ChatCompletion.create(
             model="gpt-3.5-turbo",
-            temperature=0.2,
+            temperature=0.3,
             messages=[
                 {"role": "system", "content": self.sys_prompt},
                 {"role": "user", "content": self.cmd_prompt}
             ])
-
-    def command(self):
-        answer = self.response.choices[0].message.content
-        if self._is_valid_json(answer):
-            command = ast.literal_eval(answer)
-            if command == {}:
-                print(f"I failed to understand: {command}")
-            else:
-                print(f"I will send this command: {command}")
-                self.command_handler.handle(command)
-        else:
-            print(f"\tI will skip this:\n {command}")
-        self._gc()
+        self.answer = self.response.choices[0].message.content
+
 
 
 
diff --git a/brain/cli.py b/brain/cli.py
index cfb2868..c1fe71b 100644
--- a/brain/cli.py
+++ b/brain/cli.py
@@ -5,7 +5,7 @@ brain = CloudChatBrain()
 
 while True:
     try:
-        brain.listen()
+        brain.listen(channel="cli")
         if not brain.is_emergency(brain.cmd_prompt):
             brain.understand()
             brain.command()
diff --git a/commander/commands.py b/brain/commands.py
similarity index 100%
rename from commander/commands.py
rename to brain/commands.py
diff --git a/brain/service.py b/brain/service.py
new file mode 100644
index 0000000..ef0bf40
--- /dev/null
+++ b/brain/service.py
@@ -0,0 +1,33 @@
+import random
+
+import gradio as gr
+from loguru import logger
+
+from brain.brain_openai import CloudChatBrain
+
+
+def brain_commander(prompt, history):
+    brain.listen(channel="api", prompt=prompt)
+    brain.understand()
+    history.append({"role": "user", "content": prompt})
+    history.append({"role": "assistant", "content": brain.answer})
+    messages = [(history[i]["content"], history[i+1]["content"]) for i in range(0, len(history)-1, 2)]
+    brain.command()
+    return messages, history
+
+
+brain = CloudChatBrain()
+
+with gr.Blocks() as demo:
+    chatbot_ui = gr.Chatbot(label="drone flight with chatgpt as copilot")
+    state = gr.State([])
+    with gr.Row():
+        prompt = gr.Textbox(
+                    show_label=True,
+                    label="what should I do now?   (enter q for emergency)",
+                    placeholder="Enter flight command and press enter")\
+                .style(container=True)
+    prompt.submit(brain_commander, [prompt, state], [chatbot_ui, state])
+
+
+demo.launch(server_name="0.0.0.0", server_port=8890, debug=True)
\ No newline at end of file
diff --git a/brain/service_fastapi.py b/brain/service_fastapi.py
deleted file mode 100644
index 2efa677..0000000
--- a/brain/service_fastapi.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import sys
-
-from fastapi import FastAPI
-import uvicorn
-
-from brain_openai import CloudChatBrain
-
-
-
-#def start_application():
-#    app = FastAPI()
-#    # app.include_router(api_router)
-#    # brain = CloudChatBrain()
-#    return app
-
-
-
-
-if __name__ == "__main__":
-    if len(sys.argv) == 1: 
-        port = 8890
-    else:
-        port = int(sys.argv[1])
-
-    app = FastAPI()
-
-    @app.post("/command/")
-    def post_command(payload: dict):
-        prompt = payload.get("prompt")
-        return {"response": prompt}
-
-    
-    #app = start_application()
-    uvicorn.run(app, host="0.0.0.0", port=port, log_level="debug")
diff --git a/brain/service_gradio.py b/brain/service_gradio.py
deleted file mode 100644
index d49872b..0000000
--- a/brain/service_gradio.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import random
-
-import gradio as gr
-from loguru import logger
-
-
-
-def make_completion(history):
-    return "ok"
-
-def answer(input, history):
-    history.append({"role": "user", "content": input})
-    response = random.choice(["How are you?", "I love you", "I'm very hungry"])
-    history.append({"role": "assistant", "content": response})
-    messages = [(history[i]["content"], history[i+1]["content"]) for i in range(0, len(history)-1, 2)]
-    logger.debug(history)
-    return messages, history
-
-
-
-with gr.Blocks() as demo:
-    chatbot = gr.Chatbot(label="Fly my drone with chatGPT as copilot")
-    state = gr.State([])
-    with gr.Row():
-        prompt = gr.Textbox(
-                    show_label=True,
-                    label="what should I do now?\n(enter q for emergency)",
-                    placeholder="Enter text and press enter")\
-                .style(container=True)
-    prompt.submit(answer, [prompt, state], [chatbot, state])
-
-
-demo.launch(server_name="0.0.0.0", server_port=8890, debug=True)
\ No newline at end of file
diff --git a/brain/service_gradio_nicetry_1.py b/brain/service_gradio_nicetry_1.py
deleted file mode 100644
index d4106cb..0000000
--- a/brain/service_gradio_nicetry_1.py
+++ /dev/null
@@ -1,37 +0,0 @@
-import gradio as gr
-import requests
-
-
-conversation = []
-
-def generate_response(prompt, params):
-    #response = requests.get(f"http://localhost:8000/command/{prompt}").json()
-    response = f"I got {prompt}"
-    conversation.append({"prompt": prompt, "response": response})
-    print(params)
-    #params["conversation_history"].description = f"Conversation History:\n\n{populate_chat_history(conversation)}"
-    return f"I got: {prompt}"
-
-def populate_chat_history(conversation):
-    history = ""
-    for i, chat in enumerate(conversation):
-        history += f"User: {chat['prompt']}\nBot: {chat['response']}\n\n"
-    return history
-
-iface = gr.Interface(
-    fn=generate_response,
-    inputs=["text"],
-    outputs=["text"],
-    parameters=[
-        {
-            "type": "textbox", 
-            "key": "conversation_history", 
-            "label": "Conversation:", 
-            "default": ""
-        }
-    ],
-    title="fly my drone by talking",
-    description="what should I do now?\n(enter q for emergency)"
-)
-
-iface.launch(server_name="0.0.0.0", server_port=8890, debug=True)
\ No newline at end of file
diff --git a/commander/commander.py b/commander/service.py
similarity index 100%
rename from commander/commander.py
rename to commander/service.py
diff --git a/install.sh b/install.sh
index 9bb6572..26b026a 100755
--- a/install.sh
+++ b/install.sh
@@ -35,3 +35,5 @@ cd ..
 
 sudo apt-get install wireguard -y
 
+curl https://sh.rustup.rs -sSf | sh
+
diff --git a/manage.sh b/manage.sh
index 21368fc..3642732 100755
--- a/manage.sh
+++ b/manage.sh
@@ -5,11 +5,11 @@
 ######################
 ## SCRIPT INIT
 ######################
-DRONE_INTERFACE=$(yq '.commander.drone_interface' < settings/admin.yml)
-DRONE_WPA_SUPP_CONF=$(yq '.commander.drone_wpa_supp' < settings/admin.yml)
-NET_INTERFACE=$(yq '.commander.net_interface' < settings/admin.yml)
-NET_WPA_SUPP_CONF=$(yq '.commander.net_wpa_supp' < settings/admin.yml)
-#ENV_FOR_DYNACONF=$(yq '.commander.env_for_dynaconf' < settings/admin.yml)
+DRONE_INTERFACE=$(yq '.drone_interface' < settings/admin.yml)
+DRONE_WPA_SUPP_CONF=$(yq '.drone_wpa_supp' < settings/admin.yml)
+NET_INTERFACE=$(yq '.net_interface' < settings/admin.yml)
+NET_WPA_SUPP_CONF=$(yq '.net_wpa_supp' < settings/admin.yml)
+#ENV_FOR_DYNACONF=$(yq '.env_for_dynaconf' < settings/admin.yml)
 
 pids_dir='./pids'
 if [[ ! -d "$pids_dir" ]]; then
@@ -31,17 +31,12 @@ list_wifi_ssid(){
 }
 
 connect_using_wpa_supp() {
+  echo "########## log start: $(date) ##########"
 	sudo wpa_supplicant -D nl80211 -i $DRONE_INTERFACE -c network/$DRONE_WPA_SUPP_CONF
 }
 
-#wait_for_drone() {
-    #while ! ping -c1 192.168.10.1 &>/dev/null; do
-    #    echo "Drone is offline. Waiting.."; sleep 2
-    #done
-    #echo "Drone is available, can ask for dhcp"; sleep 1
-#}
-
 get_dhcp_ip () {
+    echo "########## log start: $(date) ##########"
     while true; 
     do
         sudo dhclient $DRONE_INTERFACE            
@@ -58,23 +53,29 @@ get_dhcp_ip () {
 }
 
 start_jupyter() {
+  echo "########## log start: $(date) ##########"
 	venv/bin/python -m jupyter lab --ip='0.0.0.0' --NotebookApp.token='' --NotebookApp.password='' --no-browser --port=8888
 }
 
 start_codeserver(){
+    echo "########## log start: $(date) ##########"
     packages/code-server/code-server-4.12.0-linux-amd64/bin/code-server --config /home/uad/misc/tello-commander/packages/code-server/config.yaml --disable-getting-started-override --disable-workspace-trust --disable-telemetry ./
 }
 
 start_commander_service() {
-	venv/bin/python commander/commander.py $1
+  echo "########## log start: $(date) ##########"
+	venv/bin/python commander/service.py $1
 }
 
-start_brain_service() {
-    venv/bin/python brain/service.py $1
+start_webui_service() {
+  echo "########## log start: $(date) ##########"
+  commander_host=$1
+  ENV_FOR_DYNACONF=$commander_host venv/bin/python brain/service.py
 }
 
-talk_to_drone() {
-    ENV_FOR_DYNACONF=$1 python brain/cli.py
+talk_to_drone_via_cli() {
+  commander_host=$1
+  ENV_FOR_DYNACONF=$commander_host python brain/cli.py
 }
 
 kill_everything() {
@@ -131,7 +132,6 @@ elif [ "$1" == "start-jupyter" ]; then
     jupyter_pid=$!
     echo "started jupyter with PID $jupyter_pid"
     echo $jupyter_pid > $pids_dir/jupyter_pid.txt
-    #tail -f logs/jupyter.log
 
 elif [ "$1" == "stop-jupyter" ]; then
     jupyter_pid_file="$pids_dir/jupyter_pid.txt"
@@ -145,7 +145,6 @@ elif [ "$1" == "start-cs" ]; then
     codeserver_pid=$!
     echo "started code server with PID $codeserver_pid"
     echo $codeserver_pid > $pids_dir/codeserver_pid.txt
-    #tail -f logs/codeserver.log
 
 elif [ "$1" == "stop-cs" ]; then
     codeserver_pid_file="$pids_dir/codeserver_pid.txt"
@@ -167,16 +166,29 @@ elif [ "$1" == "start-commander" ]; then
     commander_pid=$!
     echo "started commander with PID $commander_pid"
     echo $commander_pid > $pids_dir/commander_pid.txt
-    #tail -f logs/commander.log
 
 elif [ "$1" == "stop-commander" ]; then
     commander_pid_file="$pids_dir/commander_pid.txt"
     if [ -f "$commander_pid_file" ]; then
-        sudo killport 8889
         sudo pkill -15 -P $(cat $commander_pid_file)
+        sudo killport 8889
         echo "stopped commander"
 	fi
 
+elif [ "$1" == "start-webui" ]; then
+    start_webui_service $2 > logs/webui.log 2>&1 &
+    webui_pid=$!
+    echo "started webui service with PID $webui_pid"
+    echo webui_pid > $pids_dir/webui_pid.txt
+
+elif [ "$1" == "stop-webui" ]; then
+    webui_pid_file="$pids_dir/webui_pid.txt"
+    if [ -f "webui_pid_file" ]; then
+        sudo pkill -15 -P $(cat webui_pid_file)
+        sudo killport 8890
+        echo "stopped webui service"
+	fi
+
 elif [ "$1" == "prepare-flight" ]; then
     ./manage.sh connect-drone
     ./manage.sh get-dhcp
@@ -189,8 +201,8 @@ elif [ "$1" == "finish-flight" ]; then
     ./manage.sh stop-commander
     kill_everything
     echo "flight finished"
-elif [ "$1" == "start-talking" ]; then
-    talk_to_drone $2
+elif [ "$1" == "start-clitalk" ]; then
+    talk_to_drone_via_cli $2
 
 ######################
 ## INFO
@@ -201,10 +213,11 @@ else
   - list-wifis
   - connect-/ disconnect-drone
   - get-/ kill-dhcp
-  - start-/ stop-jupyter
-  - start-/ stop-cs
-  - start-/ stop-commander [port]
-  - start-talking tuncel / commander
+  - start-/ stop-jupyter (8888)
+  - start-/ stop-cs (8888)
+  - start-/ stop-commander (8889)
+  - start-/ stop-webui [commander_host (tuncel / commander)] (8890)
+  - start-/ stop-clitalk [commander_host (tuncel / commander_remote / commander_local)]
   - turn-off
   - prepare-/ finish-flight"
 fi
diff --git a/requirements.txt b/requirements.txt
index 1b81497..da47a4d 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -36,7 +36,10 @@ fonttools==4.39.4
 fqdn==1.5.1
 frozenlist==1.3.3
 fsspec==2023.5.0
+<<<<<<< HEAD
 gpt-json==0.1.4
+=======
+>>>>>>> b80b5bf96c8b4819f8414c29abcbd6a4bb8af017
 gradio==3.31.0
 gradio_client==0.2.5
 h11==0.14.0
@@ -124,7 +127,10 @@ sniffio==1.3.0
 soupsieve==2.4.1
 stack-data==0.6.2
 starlette==0.26.1
+<<<<<<< HEAD
 tellopy @ file:///home/uad/misc/tello-commander/packages/TelloPy/dist/tellopy-0.7.0.dev0-py2.py3-none-any.whl
+=======
+>>>>>>> b80b5bf96c8b4819f8414c29abcbd6a4bb8af017
 terminado==0.17.1
 tiktoken==0.3.3
 tinycss2==1.2.1
diff --git a/settings/admin.yml b/settings/admin.yml
index 0494d9a..46ff6ed 100644
--- a/settings/admin.yml
+++ b/settings/admin.yml
@@ -1,9 +1,8 @@
-commander:
-  drone_interface:
-   wlan1
-  net_interface:
-    wlan0
-  drone_wpa_supp:
-    wpa_supp_djituad0_plus.conf
-  net_wpa_supp:
-    wpa_supp_uadis.conf
+drone_interface:
+ wlan1
+net_interface:
+  wlan0
+drone_wpa_supp:
+  wpa_supp_djituad0_plus.conf
+net_wpa_supp:
+  wpa_supp_uadis.conf