diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index b7fee19..24a8875 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -104,7 +104,6 @@ float calcGravity(accel_t profile ) //const float x_axis, const float y_axis, co
 float convertData(int inputRange, int outputRange, int offset, float value)
 {
 	return ((float)outputRange/(float)inputRange)*(value-(float)offset);
-	//return 1.0;
 }
 
 /**************************************************************************
@@ -113,9 +112,9 @@ float convertData(int inputRange, int outputRange, int offset, float value)
 **************************************************************************/
 float constrainf(float amt, int low, int high)
 {
-	if (amt < low)
+	if (amt < (float)low)
 		return (float)low;
-	else if (amt > high)
+	else if (amt > (float)high)
 		return (float)high;
 	else
 		return amt;
@@ -313,7 +312,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
 
 	// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
 	// I coefficient (I) moved before integration to make limiting independent from PID settings
-	ITerm = constrainf(ITerm, -PID_MAX_I, PID_MAX_I);
+	ITerm = constrainf(ITerm, -(int)PID_MAX_I, (int)PID_MAX_I);
 
 	// Anti windup protection
 	if (motorLimitReached)
@@ -363,8 +362,9 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
 	{
 		ITerm = 0;
 		pidProfileBuff->lastITerm[axis] = 0;
+		pidProfileBuff->ITermLimit[axis] = 0;
 	}
-	pidProfile->PID_Out[axis] = constrainf(PTerm + ITerm + DTerm, -pidProfile->pid_out_limit, pidProfile->pid_out_limit);
+	pidProfile->PID_Out[axis] = constrainf(PTerm + ITerm + DTerm, -(int)pidProfile->pid_out_limit, (int)pidProfile->pid_out_limit);
 }
 
 /**************************************************************************