diff --git a/UAV-ControlSystem/inc/system_variables.h b/UAV-ControlSystem/inc/system_variables.h
index 0217fd9..28da8fe 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 107
+#define EEPROM_SYS_VERSION 109
 
 #define ADC_STATE
 #include "stm32f4xx.h"
diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index 162ceed..471b1db 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -60,7 +60,7 @@ gyro_t gyroProfile = {0};													/*Struct profile for input data from senso
 
 pt1Filter_t accelFilter[2] = {0};
 
-float throttleRate = 0;
+float throttleRate = 1;
 float accRollFineTune = 0;
 float accPitchFineTune = 0;
 
@@ -112,7 +112,7 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
 		break;
 	case PID_ID_BAROMETER:
 
-
+		sensorValues[0] = barometer_GetCurrentAveragedtAltitude();
 		break;
 	default:
 
@@ -340,7 +340,8 @@ void pidRun(uint8_t ID)
 		break;
 	case PID_ID_BAROMETER:
 
-		if (!PidProfile[PID_ID_BAROMETER].pidEnabled && flags_IsSet_ID(systemFlags_flightmode_barometer_id))
+
+		if (!(PidProfile[PID_ID_BAROMETER].pidEnabled && flags_IsSet_ID(systemFlags_flightmode_barometer_id)))
 		{
 			PidProfile[PID_ID_BAROMETER].PID_Out[0] = rc_input.Throttle*throttleRate;
 		}
@@ -442,6 +443,10 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 		PidProfile[ID].P[PITCH] = 135;
 		PidProfile[ID].P[YAW] = 150;
 
+		PidProfile[ID].I[ROLL] = 50;
+		PidProfile[ID].I[PITCH] = 50;
+		PidProfile[ID].I[YAW] = 50;
+
 		PidProfile[ID].D[ROLL] = 75;
 		PidProfile[ID].D[PITCH] = 95;
 		PidProfile[ID].D[YAW] = 50;
@@ -457,16 +462,16 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 		break;
 	case PID_ID_ACCELEROMETER:
 
-		PidProfile[ID].P[ROLL] = 90;
-		PidProfile[ID].P[PITCH] = 90;
+		PidProfile[ID].P[ROLL] = 120;
+		PidProfile[ID].P[PITCH] = 250;
 		PidProfile[ID].P[YAW] = 0;
 
-		PidProfile[ID].D[ROLL] = 40;
-		PidProfile[ID].D[PITCH] = 40;
+		PidProfile[ID].D[ROLL] = 0;
+		PidProfile[ID].D[PITCH] = 0;
 		PidProfile[ID].D[YAW] = 0;
 
-		PidProfile[ID].PIDweight[ROLL] = 2;
-		PidProfile[ID].PIDweight[PITCH] = 2;
+		PidProfile[ID].PIDweight[ROLL] = 4;
+		PidProfile[ID].PIDweight[PITCH] = 4;
 		PidProfile[ID].PIDweight[YAW] = 100;
 
 		PidProfile[ID].pidEnabled = true;
@@ -477,27 +482,21 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 	case PID_ID_COMPASS:
 
 		PidProfile[ID].P[ROLL] = 10;
-		PidProfile[ID].P[PITCH] = 10;
-		PidProfile[ID].P[YAW] = 10;
 
 		PidProfile[ID].PIDweight[ROLL] = 100;
-		PidProfile[ID].PIDweight[PITCH] = 100;
-		PidProfile[ID].PIDweight[YAW] = 100;
 
 		PidProfile[ID].pidEnabled = false;
 
 		break;
 	case PID_ID_BAROMETER:
 
-		PidProfile[ID].P[ROLL] = 10;
-		PidProfile[ID].P[PITCH] = 10;
-		PidProfile[ID].P[YAW] = 10;
+		PidProfile[ID].P[ROLL] = 1;
 
 		PidProfile[ID].PIDweight[ROLL] = 100;
-		PidProfile[ID].PIDweight[PITCH] = 100;
-		PidProfile[ID].PIDweight[YAW] = 100;
 
 		PidProfile[ID].pidEnabled = false;
+		PidProfile[ID].dterm_lpf = 90;
+		PidProfile[ID].pid_out_limit = 1000;
 
 		break;
 	default:
@@ -528,9 +527,8 @@ void pidInit()
 
 void pidEproom(void)
 {
+	PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 200;
 
-	PidProfile[PID_ID_ACCELEROMETER].PIDweight[ROLL] = 4;
-	PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 4;
 	PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
 
 	PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000; //�NDRA TILL SEKUNDER inte ms
diff --git a/UAV-ControlSystem/src/config/cli.c b/UAV-ControlSystem/src/config/cli.c
index d77f8a9..2c99737 100644
--- a/UAV-ControlSystem/src/config/cli.c
+++ b/UAV-ControlSystem/src/config/cli.c
@@ -679,14 +679,14 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
 		},
 
 		//BARO I
-		[COMMAND_ID_PID_ACCEL_I_PITCH] =
+		[COMMAND_ID_PID_BARO_I_HEIGHT] =
 		{
 				"pid_baro_i_height", 	COMMAND_ID_PID_BARO_I_HEIGHT, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 8, VAL_UINT_8, .valueRange = {0, 255}
 		},
 		//BARO D
-		[COMMAND_ID_PID_ACCEL_D_PITCH] =
+		[COMMAND_ID_PID_BARO_D_HEIGHT] =
 		{
-				"pid_baro_d_height", 	COMMAND_ID_PID_ACCEL_D_PITCH, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 11, VAL_UINT_8, .valueRange = {0, 255}
+				"pid_baro_d_height", 	COMMAND_ID_PID_BARO_D_HEIGHT, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 11, VAL_UINT_8, .valueRange = {0, 255}
 		},
 
 		//BARO Filters and limits
diff --git a/UAV-ControlSystem/src/drivers/failsafe_toggles.c b/UAV-ControlSystem/src/drivers/failsafe_toggles.c
index 2821950..9576e59 100644
--- a/UAV-ControlSystem/src/drivers/failsafe_toggles.c
+++ b/UAV-ControlSystem/src/drivers/failsafe_toggles.c
@@ -40,9 +40,9 @@ flags_Configuration_t flagConfigArr[FLAG_CONFIGURATION_COUNT] = {
 			.flagId = systemFlags_flightmode_acceleromter_id,
 		},
 		[FLAG_CONFIGURATION_FLIGHTMODE_BAROMETER] = {
-			.minRange = 0,
-			.maxRange = 0,
-			.channelNumber = 0,
+			.minRange = 1900,
+			.maxRange = 2100,
+			.channelNumber = 6,
 			.flagId = systemFlags_flightmode_barometer_id,
 		},
 		[FLAG_CONFIGURATION_FLIGHTMODE_COMPASS] = {
diff --git a/UAV-ControlSystem/src/tasks_main.c b/UAV-ControlSystem/src/tasks_main.c
index 8f199d9..f5c3b07 100644
--- a/UAV-ControlSystem/src/tasks_main.c
+++ b/UAV-ControlSystem/src/tasks_main.c
@@ -258,7 +258,7 @@ void systemTaskAltitude(void)
 	//double temperature = barometer_GetCurrentTemperature();
 	//double pressure = barometer_GetCurrentPreassure();
 	//float altitute = barometer_GetCurrentAltitude();
-	float altitute = barometer_GetCurrentAveragedtAltitude();
+	//float altitute = barometer_GetCurrentAveragedtAltitude();
 
 	//pid run, should probably be moved to systemTaskAltitude
 	pidRun(PID_ID_BAROMETER);