Omitting Salaah

Q: I suffer from a sever depersonalisation disorder. It prevents me from praying with reverence. I want to pray and I am now trying to memorize as much as I can of the holy Quran. I am so sad I want to pray but I can't feel that while I am praying I am standing between in front of Allah Ta'ala. I have been struggling with it for 7 years and I always make dua' and do everything I can to stop it from letting me live a normal life. I want to know what should I do? Am I being a bad Muslim because I keep skipping prayers?

Urine drops soiling one's clothes

Q: I am a mazoor suffering from incontinence of urine. By the blessing of Allah Ta'ala I have controlled my urine very much, but I still find a drop between two fardh Salaah times, which is enough for me to remain a mazoor. My question is if I find one drop between for example Asr and magrib, what are the rulings for me? Should I wash my private part for every Salaah, make wudhu and pray or should I only make wudhu and pray. With regards to clothing, I place a tissue in my undergarment when I go to urinate, but my question is for example before Asr time I go to urinate and keep the tissue paper and I don't remove it till after Esha Salaah and between this time I only make wudhu and perform Salaah, is there any problem in this?