diff --git a/UAV-ControlSystem/src/config/cli.c b/UAV-ControlSystem/src/config/cli.c
index 98aa545..861f973 100644
--- a/UAV-ControlSystem/src/config/cli.c
+++ b/UAV-ControlSystem/src/config/cli.c
@@ -241,15 +241,12 @@ typedef enum
 	//ACCEL
 	COMMAND_ID_PID_ACCEL_P_ROLL,
 	COMMAND_ID_PID_ACCEL_P_PITCH,
-	COMMAND_ID_PID_ACCEL_P_YAW,
 
 	COMMAND_ID_PID_ACCEL_I_ROLL,
 	COMMAND_ID_PID_ACCEL_I_PITCH,
-	COMMAND_ID_PID_ACCEL_I_YAW,
 
 	COMMAND_ID_PID_ACCEL_D_ROLL,
 	COMMAND_ID_PID_ACCEL_D_PITCH,
-	COMMAND_ID_PID_ACCEL_D_YAW,
 
 	/* Counter for the amount of commands */
 	COMMAND_ID_COUNT,
diff --git a/UAV-ControlSystem/src/main.c b/UAV-ControlSystem/src/main.c
index 02a0d1d..42b6ceb 100644
--- a/UAV-ControlSystem/src/main.c
+++ b/UAV-ControlSystem/src/main.c
@@ -45,19 +45,20 @@ void init_system()
 	//Configure the clock
 	system_clock_config();
 
+	pidInit();
+
 	/* read saved variables from eeprom, in most cases eeprom should be read after a lot of the initializes  */
 	readEEPROM();
 
 	//initialize the CLI NOTE: Cant use the same usart as anything else or there will be some big trouble
-	cliInit(USART3);
+	cliInit(USART1);
 
 	//init sbus, using USART1
-	sbus_init();
+//	sbus_init();
 
 	//init motors to run with oneshot 125
 	pwmEnableAllMotors(Oneshot125);
 
-	pidInit();
 
 #ifdef USE_LEDS
 	//Initialize the on board leds