diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 24a8875..97a78f8 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -22,7 +22,7 @@
 
 
 #define PTERM_SCALE 0.032029f										/*P-term used as a scale value to the PID controller*/
-#define ITERM_SCALE 0.0012f										/*I-term used as a scale value to the PID controller*/
+#define ITERM_SCALE 0.0012f											/*I-term used as a scale value to the PID controller*/
 #define DTERM_SCALE 0.000529f										/*D-term used as a scale value to the PID controller*/
 
 #define RADIO_RANGE 500												/*Radio range input*/
@@ -31,7 +31,7 @@
 #define GYRO_RANGE 720												/*Determines the maximum rotational limit (limits the rc input)*/
 #define COMPASS_RANGE 180											/*Determines the maximum compass limit (limits the rc input)*/
 
-#define PID_MAX_I 256											/*Constrains ITerm*/
+#define PID_MAX_I 256												/*Constrains ITerm*/
 #define PID_MAX_D 512												/*Constrains DTerm*/
 
 /*Struct that belongs to a certain PID controller*/
@@ -315,14 +315,14 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
 	ITerm = constrainf(ITerm, -(int)PID_MAX_I, (int)PID_MAX_I);
 
 	// Anti windup protection
-	if (motorLimitReached)
-	{
-		ITerm = constrainf(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]);
-	}
-	else
-	{
-		pidProfileBuff->ITermLimit[axis] = abs(ITerm);
-	}
+//	if (motorLimitReached)
+//	{
+//		ITerm = constrainf(ITerm, -pidProfileBuff->ITermLimit[axis], pidProfileBuff->ITermLimit[axis]);
+//	}
+//	else
+//	{
+//		pidProfileBuff->ITermLimit[axis] = abs(ITerm);
+//	}
 
 	pidProfileBuff->lastITerm[axis] = ITerm;
 
@@ -631,10 +631,10 @@ 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; //�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;
+	PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000; //�NDRA TILL SEKUNDER inte ms
+	PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000;
+	PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000;
+	PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000;