madhi

Assalamu 'Alaykum.Is it necessary to wash the penis upon noticing that madhi or wadi come out? Sometimes a few drops come out from me while using the washroom and so I'm sure that none of it has touched my body or clothes, so can I just renew my wudu' in that case?My Allah reward you for your service.

Dear Scholar, salamu alaikum I have a problem with having madhi on underwear. Some times it's not under my control. I do not know if it is necessary to wash my underwear. Some times I am not at home and it cause me to wonder how can I pray, and I miss the prayer. Can I pray with out purifying my clothes when I am not at home? And how can I purify my clothes? should I wash it or just wet it  three times?thank you very much. wassalamu alaikum  

Dear scholars, As-Salamu `alaykum. If a person uncontrollably gets sexual desires in Ramadan and only madhi comes out, does this break the fast and does it need to be made up (qada')? Also, how should one know whether madhi or actual sperm is released? May Allah bless you.

As-Salamu `alaykum wa Rahamtullah wa Barakatuh. Please shed some light on the Shari`ah rulings pertaining to madhi, wadi, and mani?