diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 8274506..6ef9db6 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -567,6 +567,5 @@ void pidEproom(void)
 	PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000;
 	PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000;
 
-	PidProfile[PID_ID_GYRO].I[YAW] = 40;
 
 }
diff --git a/UAV-ControlSystem/src/tasks_main.c b/UAV-ControlSystem/src/tasks_main.c
index a3293ae..4392405 100644
--- a/UAV-ControlSystem/src/tasks_main.c
+++ b/UAV-ControlSystem/src/tasks_main.c
@@ -64,7 +64,6 @@ void systemTaskGyroPid(void)
 void systemTaskAccelerometer(void)
 {
 
-	flags_Set_ID(systemFlags_flightmode_acceleromter_id);
 	pidRun(PID_ID_ACCELEROMETER);
 	//update the accelerometer data
 //	uint8_t c = 97;