diff --git a/UAV-ControlSystem/inc/config/eeprom.h b/UAV-ControlSystem/inc/config/eeprom.h
index d2f774d..0d5fe4b 100644
--- a/UAV-ControlSystem/inc/config/eeprom.h
+++ b/UAV-ControlSystem/inc/config/eeprom.h
@@ -204,6 +204,13 @@ typedef enum {
 	EEPROM_PID_GYRO_D_PITCH,
 	EEPROM_PID_GYRO_D_YAW,
 
+	EEPROM_PID_ACCEL_P_ROLL,
+	EEPROM_PID_ACCEL_P_PITCH,
+	EEPROM_PID_ACCEL_I_ROLL,
+	EEPROM_PID_ACCEL_I_PITCH,
+	EEPROM_PID_ACCEL_D_ROLL,
+	EEPROM_PID_ACCEL_D_PITCH,
+
 	/* Counts the amount of settings in profile */
 	EEPROM_PROFILE_COUNT
 } EEPROM_PROFILE_ID_t;
diff --git a/UAV-ControlSystem/inc/system_variables.h b/UAV-ControlSystem/inc/system_variables.h
index 0cc221e..607b8e1 100644
--- a/UAV-ControlSystem/inc/system_variables.h
+++ b/UAV-ControlSystem/inc/system_variables.h
@@ -14,7 +14,7 @@
 #ifndef SYSTEM_VARIABLES_H_
 #define SYSTEM_VARIABLES_H_
 
-#define EEPROM_SYS_VERSION 101
+#define EEPROM_SYS_VERSION 102
 
 #define ADC_STATE
 #include "stm32f4xx.h"
diff --git a/UAV-ControlSystem/src/config/cli.c b/UAV-ControlSystem/src/config/cli.c
index eb56233..98aa545 100644
--- a/UAV-ControlSystem/src/config/cli.c
+++ b/UAV-ControlSystem/src/config/cli.c
@@ -225,6 +225,7 @@ typedef enum
 	/* Profile values */
 
 	/* PID value */
+	//GYRO
 	COMMAND_ID_PID_GYRO_P_ROLL,
 	COMMAND_ID_PID_GYRO_P_PITCH,
 	COMMAND_ID_PID_GYRO_P_YAW,
@@ -237,6 +238,18 @@ typedef enum
 	COMMAND_ID_PID_GYRO_D_PITCH,
 	COMMAND_ID_PID_GYRO_D_YAW,
 
+	//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,
@@ -494,44 +507,76 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
 
 		//PROFILE VALUES
 		//PID VALUES
+		//GYRO P
 		[COMMAND_ID_PID_GYRO_P_ROLL] =
 		{
-				"pid_gyro_p_roll", 	COMMAND_ID_PID_GYRO_P_ROLL, EEPROM_PID_GYRO_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_p_roll", 	COMMAND_ID_PID_GYRO_P_ROLL, EEPROM_PID_GYRO_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_GYRO_P_PITCH] =
 		{
-				"pid_gyro_p_pitch", 	COMMAND_ID_PID_GYRO_P_PITCH, EEPROM_PID_GYRO_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_p_pitch", 	COMMAND_ID_PID_GYRO_P_PITCH, EEPROM_PID_GYRO_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_GYRO_P_YAW] =
 		{
-				"pid_gyro_p_yaw", 	COMMAND_ID_PID_GYRO_P_YAW, EEPROM_PID_GYRO_P_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_p_yaw", 	COMMAND_ID_PID_GYRO_P_YAW, EEPROM_PID_GYRO_P_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 
+		//GYRO I
 		[COMMAND_ID_PID_GYRO_I_ROLL] =
 		{
-				"pid_gyro_i_roll", 	COMMAND_ID_PID_GYRO_I_ROLL, EEPROM_PID_GYRO_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_i_roll", 	COMMAND_ID_PID_GYRO_I_ROLL, EEPROM_PID_GYRO_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_GYRO_I_PITCH] =
 		{
-				"pid_gyro_i_pitch", 	COMMAND_ID_PID_GYRO_I_PITCH, EEPROM_PID_GYRO_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_i_pitch", 	COMMAND_ID_PID_GYRO_I_PITCH, EEPROM_PID_GYRO_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_GYRO_I_YAW] =
 		{
-				"pid_gyro_i_yaw", 	COMMAND_ID_PID_GYRO_I_YAW, EEPROM_PID_GYRO_I_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_i_yaw", 	COMMAND_ID_PID_GYRO_I_YAW, EEPROM_PID_GYRO_I_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 
-
+		//GYRO D
 		[COMMAND_ID_PID_GYRO_D_ROLL] =
 		{
-				"pid_gyro_d_roll", 	COMMAND_ID_PID_GYRO_D_ROLL, EEPROM_PID_GYRO_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_d_roll", 	COMMAND_ID_PID_GYRO_D_ROLL, EEPROM_PID_GYRO_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_GYRO_D_PITCH] =
 		{
-				"pid_gyro_d_pitch", 	COMMAND_ID_PID_GYRO_D_PITCH, EEPROM_PID_GYRO_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_d_pitch", 	COMMAND_ID_PID_GYRO_D_PITCH, EEPROM_PID_GYRO_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 		[COMMAND_ID_PID_GYRO_D_YAW] =
 		{
-				"pid_gyro_d_yaw", 	COMMAND_ID_PID_GYRO_D_YAW, EEPROM_PID_GYRO_D_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000}
+				"pid_gyro_d_yaw", 	COMMAND_ID_PID_GYRO_D_YAW, EEPROM_PID_GYRO_D_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
+		},
+
+		//ACCEL P
+		[COMMAND_ID_PID_ACCEL_P_ROLL] =
+		{
+				"pid_accel_p_roll", 	COMMAND_ID_PID_ACCEL_P_ROLL, EEPROM_PID_ACCEL_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
+		},
+		[COMMAND_ID_PID_ACCEL_P_PITCH] =
+		{
+				"pid_accel_p_pitch", 	COMMAND_ID_PID_ACCEL_P_PITCH, EEPROM_PID_ACCEL_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
+		},
+
+		//ACCEL I
+		[COMMAND_ID_PID_ACCEL_I_ROLL] =
+		{
+				"pid_accel_i_roll", 	COMMAND_ID_PID_ACCEL_I_ROLL, EEPROM_PID_ACCEL_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
+		},
+		[COMMAND_ID_PID_ACCEL_I_PITCH] =
+		{
+				"pid_accel_i_pitch", 	COMMAND_ID_PID_ACCEL_I_PITCH, EEPROM_PID_ACCEL_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
+		},
+
+		//ACCEL D
+		[COMMAND_ID_PID_ACCEL_D_ROLL] =
+		{
+				"pid_accel_d_roll", 	COMMAND_ID_PID_ACCEL_D_ROLL, EEPROM_PID_ACCEL_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
+		},
+		[COMMAND_ID_PID_ACCEL_D_PITCH] =
+		{
+				"pid_accel_d_pitch", 	COMMAND_ID_PID_ACCEL_D_PITCH, EEPROM_PID_ACCEL_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
 		},
 
 
diff --git a/UAV-ControlSystem/src/config/eeprom.c b/UAV-ControlSystem/src/config/eeprom.c
index 52c601f..27b40d8 100644
--- a/UAV-ControlSystem/src/config/eeprom.c
+++ b/UAV-ControlSystem/src/config/eeprom.c
@@ -249,53 +249,90 @@ EEPROM_DATA_t eeprom_profile_Arr[EEPROM_PROFILE_COUNT] = {
 	//GYRO P VAL
 	[EEPROM_PID_GYRO_P_ROLL] =
 	{
-		.size = sizeof(PidGyroProfile.P),
+		.size = sizeof(PidGyroProfile.P[0]),
 		.dataPtr = &PidGyroProfile.P[0],
 	},
 	[EEPROM_PID_GYRO_P_PITCH] =
 	{
-		.size = sizeof(PidGyroProfile.P),
+		.size = sizeof(PidGyroProfile.P[1]),
 		.dataPtr = &PidGyroProfile.P[1],
 	},
 	[EEPROM_PID_GYRO_P_YAW] =
 	{
-		.size = sizeof(PidGyroProfile.P),
+		.size = sizeof(PidGyroProfile.P[2]),
 		.dataPtr = &PidGyroProfile.P[2],
 	},
 
 	//GYRO I VAL
 	[EEPROM_PID_GYRO_I_ROLL] =
 	{
-		.size = sizeof(PidGyroProfile.I),
+		.size = sizeof(PidGyroProfile.I[0]),
 		.dataPtr = &PidGyroProfile.I[0],
 	},
 	[EEPROM_PID_GYRO_I_PITCH] =
 	{
-		.size = sizeof(PidGyroProfile.I),
+		.size = sizeof(PidGyroProfile.I[1]),
 		.dataPtr = &PidGyroProfile.I[1],
 	},
 	[EEPROM_PID_GYRO_I_YAW] =
 	{
-		.size = sizeof(PidGyroProfile.I),
+		.size = sizeof(PidGyroProfile.I[2]),
 		.dataPtr = &PidGyroProfile.I[2],
 	},
 
 	//GYRO D VAL
 	[EEPROM_PID_GYRO_D_ROLL] =
 	{
-		.size = sizeof(PidGyroProfile.D),
+		.size = sizeof(PidGyroProfile.D[0]),
 		.dataPtr = &PidGyroProfile.D[0],
 	},
 	[EEPROM_PID_GYRO_D_PITCH] =
 	{
-		.size = sizeof(PidGyroProfile.D),
+		.size = sizeof(PidGyroProfile.D[1]),
 		.dataPtr = &PidGyroProfile.D[1],
 	},
 	[EEPROM_PID_GYRO_D_YAW] =
 	{
-		.size = sizeof(PidGyroProfile.D),
+		.size = sizeof(PidGyroProfile.D[2]),
 		.dataPtr = &PidGyroProfile.D[2],
 	},
+
+	//ACCEL P VAL
+	[EEPROM_PID_ACCEL_P_ROLL] =
+	{
+		.size = sizeof(PidAccelerometerProfile.P[0]),
+		.dataPtr = &PidAccelerometerProfile.P[0],
+	},
+	[EEPROM_PID_ACCEL_P_PITCH] =
+	{
+		.size = sizeof(PidAccelerometerProfile.P[1]),
+		.dataPtr = &PidAccelerometerProfile.P[1],
+	},
+
+	//ACCEL I VAL
+	[EEPROM_PID_ACCEL_I_ROLL] =
+	{
+		.size = sizeof(PidAccelerometerProfile.I[0]),
+		.dataPtr = &PidAccelerometerProfile.I[0],
+	},
+	[EEPROM_PID_ACCEL_I_PITCH] =
+	{
+		.size = sizeof(PidAccelerometerProfile.I[1]),
+		.dataPtr = &PidAccelerometerProfile.I[1],
+	},
+
+	//ACCEL_D_VAL
+	[EEPROM_PID_ACCEL_D_ROLL] =
+	{
+		.size = sizeof(PidAccelerometerProfile.D[0]),
+		.dataPtr = &PidAccelerometerProfile.D[0],
+	},
+	[EEPROM_PID_ACCEL_D_PITCH] =
+	{
+		.size = sizeof(PidAccelerometerProfile.D[1]),
+		.dataPtr = &PidAccelerometerProfile.D[1],
+	},
+
 };
 
 /* Data pointers and sizes for footer content */