diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 018181f..b7fee19 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -1,6 +1,6 @@
 /**************************************************************************
 * NAME: pid.c      		                                                  *
-* AUTHOR: Johan Gärtner                                                   *
+* AUTHOR: Johan G�rtner                                                   *
 *
 * PURPOSE: This file contains pid functions		                          *
 * INFORMATION: pidUAV is the final pid controller which only takes        *
@@ -114,9 +114,9 @@ float convertData(int inputRange, int outputRange, int offset, float value)
 float constrainf(float amt, int low, int high)
 {
 	if (amt < low)
-		return low;
+		return (float)low;
 	else if (amt > high)
-		return high;
+		return (float)high;
 	else
 		return amt;
 }
@@ -469,7 +469,7 @@ void pidUAVInitBuff(pidProfileBuff_t *pidProfile, uint8_t ID)
 	case PID_ID_GYRO:
 
 		PidProfileBuff[ID].DOF = 3;
-		PidProfileBuff[ID].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //ÄNDRA TILL SEKUNDER inte ms
+		PidProfileBuff[ID].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //�NDRA TILL SEKUNDER inte ms
 
 		break;
 	case PID_ID_ACCELEROMETER:
@@ -631,7 +631,7 @@ void pidEproom(void)
 	PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2;
 	PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
 
-	PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //ÄNDRA TILL SEKUNDER inte ms
+	PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //�NDRA TILL SEKUNDER inte ms
 	PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000000;
 	PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000000;
 	PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000000;