diff --git a/software/ros_packages/ground_station/src/Framework/MiscSystems/SSHConsoleCore.py b/software/ros_packages/ground_station/src/Framework/MiscSystems/SSHConsoleCore.py
new file mode 100644
index 0000000..952f715
--- /dev/null
+++ b/software/ros_packages/ground_station/src/Framework/MiscSystems/SSHConsoleCore.py
@@ -0,0 +1,47 @@
+# coding=utf-8
+#####################################
+# Imports
+#####################################
+# Python native imports
+from PyQt5 import QtCore, QtWidgets
+import logging
+from time import time
+import paramiko
+
+#####################################
+# Global Variables
+#####################################
+ACCESS_POINT_IP = "192.168.1.20"  # The channel only has to be set on the access point. The staion will adjust.
+ACCESS_POINT_USER = "ubnt"
+ACCESS_POINT_PASSWORD = "rover4lyfe^"  # We don't care about this password, don't freak out. Wifi is open anyways...
+
+
+#####################################
+# UbiquitiRadioSettings Class Definition
+#####################################
+class SSHConsole(QtCore.QThread):
+    def __init__(self, shared_objects):
+        super(SSHConsole, self).__init__()
+
+        # ########## Reference to class init variables ##########
+        self.shared_objects = shared_objects
+        self.left_screen = self.shared_objects["screens"]["left_screen"]
+
+        self.ubiquiti_channel_spin_box = self.left_screen.ssh_console_widget  # type: QtWidgets.QSpinBox
+        self.ubiquiti_channel_apply_button = self.left_screen.ubiquiti_channel_apply_button  # type: QtWidgets.QPushButton
+
+        # ########## Get the settings instance ##########
+        self.settings = QtCore.QSettings()
+
+        # ########## Get the Pick And Plate instance of the logger ##########
+        self.logger = logging.getLogger("groundstation")
+
+        # ########## Thread Flags ##########
+        self.run_thread_flag = True
+
+        # ########## Class Variables ##########
+
+        self.connect_signals_and_slots()
+
+    def connect_signals_and_slots(self):
+        pass
\ No newline at end of file
diff --git a/software/ros_packages/ground_station/src/Framework/MiscSystems/__init__.py b/software/ros_packages/ground_station/src/Framework/MiscSystems/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py b/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
index 8f2a4a1..e572948 100644
--- a/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
+++ b/software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
@@ -7,13 +7,14 @@ from PyQt5 import QtWidgets, QtCore, QtGui, uic
 from std_msgs.msg import Empty
 import PIL.Image
 from PIL.ImageQt import ImageQt
+import time
 
 from std_msgs.msg import UInt16
+
 # import Timer
 
 REQUEST_UPDATE_TOPIC = "/rover_status/update_requested"
 
-
 CAMERA_TOPIC_NAME = "/rover_status/camera_status"
 BOGIE_TOPIC_NAME = "/rover_status/bogie_status"
 FRSKY_TOPIC_NAME = "/rover_status/frsky_status"
@@ -25,10 +26,14 @@ CO2_TOPIC_NAME = "/rover_control/tower/status/co2"
 
 COLOR_GREEN = "background-color: darkgreen; border: 1px solid black;"
 COLOR_ORANGE = "background-color: orange; border: 1px solid black;"
+COLOR_YELLOW = "background-color: rgb(204,204,0); border: 1px solid black; color: black;"
 COLOR_RED = "background-color: darkred; border: 1px solid black;"
 
 GPS_BEST_CASE_ACCURACY = 3
 
+LOW_BATTERY_DIALOG_TIMEOUT = 120
+CRITICAL_BATTERY_DIALOG_TIMEOUT = 30
+
 
 class SensorCore(QtCore.QThread):
     # ########## create signals for slots ##########
@@ -64,6 +69,9 @@ class SensorCore(QtCore.QThread):
     battery_voltage_update_ready__signal = QtCore.pyqtSignal(str)
     battery_voltage_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
 
+    show_battery_low__signal = QtCore.pyqtSignal()
+    show_battery_critical__signal = QtCore.pyqtSignal()
+
     def __init__(self, shared_objects):
         super(SensorCore, self).__init__()
 
@@ -108,7 +116,7 @@ class SensorCore(QtCore.QThread):
         self.co2_status = rospy.Subscriber(CO2_TOPIC_NAME, UInt16, self.__co2_callback)
 
         self.camera_msg = CameraStatuses()
-        self.bogie_msg = None # BogieStatuses()
+        self.bogie_msg = None  # BogieStatuses()
         self.FrSky_msg = FrSkyStatus()
         self.GPS_msg = GPSInfo()
         self.jetson_msg = JetsonInfo()
@@ -122,6 +130,28 @@ class SensorCore(QtCore.QThread):
         self.osurc_logo_pixmap = QtGui.QPixmap.fromImage(ImageQt(self.osurc_logo_pil))
         self.osurc_logo_label.setPixmap(self.osurc_logo_pixmap)  # Init should be in main thread, should be fine
 
+        self.low_battery_warning_dialog = QtWidgets.QMessageBox()
+        self.low_battery_warning_dialog.setIcon(QtWidgets.QMessageBox.Warning)
+        self.low_battery_warning_dialog.setText("\n\n\n\nRover battery low!\nReturn and charge soon to avoid battery damage!\n\n\n\n")
+        self.low_battery_warning_dialog.setWindowTitle("Low Battery")
+        self.low_battery_warning_dialog.setStandardButtons(QtWidgets.QMessageBox.Ok)
+        self.low_battery_warning_dialog.setWindowFlags(
+            QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.X11BypassWindowManagerHint | QtCore.Qt.WindowTitleHint | QtCore.Qt.WindowCloseButtonHint)
+        self.low_battery_warning_dialog.setStyleSheet(COLOR_YELLOW)
+
+        self.critical_battery_warning_dialog = QtWidgets.QMessageBox()
+        self.critical_battery_warning_dialog.setIcon(QtWidgets.QMessageBox.Critical)
+        self.critical_battery_warning_dialog.setText(
+            "\n\n\n\nRover battery critical!\nPower down immediately or battery damage will occur!\n\n\n\n")
+        self.critical_battery_warning_dialog.setWindowTitle("Critical Battery")
+        self.critical_battery_warning_dialog.setStandardButtons(QtWidgets.QMessageBox.Ok)
+        self.critical_battery_warning_dialog.setWindowFlags(
+            QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.X11BypassWindowManagerHint | QtCore.Qt.WindowTitleHint | QtCore.Qt.WindowCloseButtonHint)
+        self.critical_battery_warning_dialog.setStyleSheet(COLOR_RED)
+
+        self.low_battery_warning_last_shown = 0
+        self.critical_battery_warning_last_shown = 0
+
     def __camera_callback(self, data):
         self.camera_msg.camera_zed = data.camera_zed
         self.camera_msg.camera_undercarriage = data.camera_undercarriage
@@ -217,7 +247,8 @@ class SensorCore(QtCore.QThread):
             self.gps_heading_valid_update_ready__signal.emit("GPS Heading Valid\nFalse")
 
         self.gps_num_satellites_update_ready__signal.emit("GPS Satellites\n%s" % data.num_satellites)
-        self.gps_accuracy_update_ready__signal.emit("GPS Accuracy\n%2.2f m" % (data.horizontal_dilution * GPS_BEST_CASE_ACCURACY))
+        self.gps_accuracy_update_ready__signal.emit(
+            "GPS Accuracy\n%2.2f m" % (data.horizontal_dilution * GPS_BEST_CASE_ACCURACY))
 
     def __misc_callback(self, data):
         self.misc_msg.arm_connection_status = data.arm_connection_status
@@ -231,9 +262,20 @@ class SensorCore(QtCore.QThread):
 
         if voltage >= 21:
             self.battery_voltage_stylesheet_change_ready__signal.emit(COLOR_GREEN)
+        elif voltage >= 19:
+            self.battery_voltage_stylesheet_change_ready__signal.emit(COLOR_YELLOW)
+
+            if (time.time() - self.low_battery_warning_last_shown) > LOW_BATTERY_DIALOG_TIMEOUT:
+                self.show_battery_low__signal.emit()
+                self.low_battery_warning_last_shown = time.time()
+
         else:
             self.battery_voltage_stylesheet_change_ready__signal.emit(COLOR_RED)
 
+            if (time.time() - self.critical_battery_warning_last_shown) > CRITICAL_BATTERY_DIALOG_TIMEOUT:
+                self.show_battery_critical__signal.emit()
+                self.critical_battery_warning_last_shown = time.time()
+
         self.battery_voltage_update_ready__signal.emit("Battery Voltage\n" + str(voltage) + " V")
 
     def __co2_callback(self, data):
@@ -249,7 +291,7 @@ class SensorCore(QtCore.QThread):
 
     def run(self):
         while self.run_thread_flag:
-            self.update_requester.publish(Empty())
+            # self.update_requester.publish(Empty())
             self.__display_time()
             self.msleep(1000)
 
@@ -279,6 +321,9 @@ class SensorCore(QtCore.QThread):
         self.battery_voltage_update_ready__signal.connect(self.battery.setText)
         self.battery_voltage_stylesheet_change_ready__signal.connect(self.battery.setStyleSheet)
 
+        self.show_battery_low__signal.connect(self.low_battery_warning_dialog.show)
+        self.show_battery_critical__signal.connect(self.critical_battery_warning_dialog.show)
+
     def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
         start_signal.connect(self.start)
         signals_and_slots_signal.connect(self.connect_signals_and_slots)
diff --git a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
index 5efcd23..6360c49 100644
--- a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
@@ -1396,6 +1396,11 @@ N/A</string>
          <attribute name="title">
           <string>SSH Console</string>
          </attribute>
+         <layout class="QGridLayout" name="gridLayout_4">
+          <item row="0" column="0">
+           <widget class="QWidget" name="ssh_console_widget" native="true"/>
+          </item>
+         </layout>
         </widget>
         <widget class="QWidget" name="tab_2">
          <attribute name="title">
diff --git a/software/ros_packages/rover_main/launch/rover/control.launch b/software/ros_packages/rover_main/launch/rover/control.launch
index 1a4ca14..74761a2 100644
--- a/software/ros_packages/rover_main/launch/rover/control.launch
+++ b/software/ros_packages/rover_main/launch/rover/control.launch
@@ -9,10 +9,8 @@
             <param name="port" value="/dev/rover/ttyREAR"/>
             <param name="drive_control_topic" value="drive_control/rear"/>
             <param name="drive_control_status_topic" value="drive_status/rear"/>
-            <param name="first_motor_id" value="1"/>
-            <param name="second_motor_id" value="2"/>
-            <param name="invert_first_motor" value="True"/>
-            <param name="invert_second_motor" value="True"/>
+            <param name="first_motor_id" value="2"/>
+            <param name="second_motor_id" value="1"/>
         </node>
 
         <node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">