diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 31027e9..18ceb86 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -325,6 +325,27 @@ void pidUAV(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff)
 	}
 }
 
+uint8_t flagAccBuff = 0;
+
+void pidAccelerometer(void)
+{
+	static uint8_t counterAcc = 0;
+
+	counterAcc = ((flagAccBuff == 0))? 0: counterAcc;
+
+	pidUAV(&PidProfile[PID_ID_ACCELEROMETER], &PidProfileBuff[PID_ID_ACCELEROMETER]);
+
+	if (counterAcc > 50)
+	{
+		PidProfile[PID_ID_ACCELEROMETER].PID_Out[ROLL] = rc_input.Roll;
+		PidProfile[PID_ID_ACCELEROMETER].PID_Out[PITCH] = rc_input.Pitch;
+	}
+	else
+	{
+		counterAcc +=1;
+	}
+}
+
 /**************************************************************************
 * BRIEF: Runs a certain PID Controller									  *
 * INFORMATION:                       									  *
@@ -354,10 +375,12 @@ void pidRun(uint8_t ID)
 		{
 			PidProfile[PID_ID_ACCELEROMETER].PID_Out[ROLL] = rc_input.Roll;
 			PidProfile[PID_ID_ACCELEROMETER].PID_Out[PITCH] = rc_input.Pitch;
+			flagAccBuff = 0;
 		}
 		else
 		{
-			pidUAV(&PidProfile[PID_ID_ACCELEROMETER], &PidProfileBuff[PID_ID_ACCELEROMETER]);
+			pidAccelerometer();
+			flagAccBuff = 1;
 		}
 
 		break;