diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index da126f9..b17a19e 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -419,6 +419,10 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 	PidProfile[ID].PIDweight[PITCH] = 100;
 	PidProfile[ID].PIDweight[YAW] = 100;
 
+	PidProfile[ID].P[ROLL] = 10;
+	PidProfile[ID].P[PITCH] = 10;
+	PidProfile[ID].P[YAW] = 10;
+
 	switch (ID)
 	{
 	case PID_ID_GYRO:
diff --git a/UAV-ControlSystem/src/config/cli.c b/UAV-ControlSystem/src/config/cli.c
index 7f96636..3900980 100644
--- a/UAV-ControlSystem/src/config/cli.c
+++ b/UAV-ControlSystem/src/config/cli.c
@@ -626,15 +626,15 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
 		},
 		[COMMAND_ID_PID_ACCEL_PTERM_YAW_LPF] =
 		{
-				"pid_accel_pterm_yaw_lpf", 	COMMAND_ID_PID_ACCEL_PTERM_YAW_LPF, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 15, VAL_UINT_16, .valueRange = {0, 100}
+				"pid_accel_pterm_yaw_lpf", 	COMMAND_ID_PID_ACCEL_PTERM_YAW_LPF, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 16, VAL_UINT_16, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_ACCEL_YAW_P_LIMIT] =
 		{
-				"pid_accel_yaw_p_limit", 	COMMAND_ID_PID_ACCEL_YAW_P_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 17, VAL_UINT_16, .valueRange = {0, 100}
+				"pid_accel_yaw_p_limit", 	COMMAND_ID_PID_ACCEL_YAW_P_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 18, VAL_UINT_16, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_ACCEL_OUT_LIMIT] =
 		{
-				"pid_accel_yaw_p_limit", 	COMMAND_ID_PID_ACCEL_OUT_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 18, VAL_UINT_16, .valueRange = {0, 100}
+				"pid_accel_yaw_p_limit", 	COMMAND_ID_PID_ACCEL_OUT_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 20, VAL_UINT_16, .valueRange = {0, 100}
 		},
 };
 
diff --git a/UAV-ControlSystem/src/main.c b/UAV-ControlSystem/src/main.c
index b69cd1d..9722f46 100644
--- a/UAV-ControlSystem/src/main.c
+++ b/UAV-ControlSystem/src/main.c
@@ -52,7 +52,7 @@ void init_system()
 	readEEPROM();
 
 	//initialize the CLI NOTE: Cant use the same usart as anything else or there will be some big trouble
-	cliInit(USART6);
+	cliInit(USART3);
 
 	//init sbus, using USART1
 	sbus_init();