diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
index 4eead75438f803ecb4697df862506a768c07f1fd..bcf135870f4653ea0fecaf4a2c51b71772f93694 100644
--- a/groundStation/src/cli/cli_getpid.c
+++ b/groundStation/src/cli/cli_getpid.c
@@ -34,33 +34,33 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 
 	int result;
 	if(getAll) {
-		pid_data.controller = ROLL;
+		pid_data.controller = PID_ROLL;
 		if ((result = getValues(conn, &pid_data))) {
 			return result;
 		}
-		pid_data.controller = PITCH;
+		pid_data.controller = PID_PITCH;
 		if ((result = getValues(conn, &pid_data))) {
 			return result;
 		}
-		pid_data.controller = YAW;
+		pid_data.controller = PID_YAW;
 		if ((result = getValues(conn, &pid_data))) {
 			return result;
 		}
 	} else {
 		if(getPitch) {
-			pid_data.controller = PITCH;
+			pid_data.controller = PID_PITCH;
 			if ((result = getValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getRoll) {
-			pid_data.controller = ROLL;
+			pid_data.controller = PID_ROLL;
 			if ((result = getValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getYaw) {
-			pid_data.controller = YAW;
+			pid_data.controller = PID_YAW;
 			if ((result = getValues(conn, &pid_data))) {
 				return result;
 			}
@@ -78,15 +78,15 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 	return 0;
 
 	switch(pid_data->controller) {
-		case PITCH :
+		case PID_PITCH :
 			printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
 				pid_data->p, pid_data->i, pid_data->d);
 			break;
-		case ROLL :
+		case PID_ROLL :
 			printf("Roll Constants: P = %f\tI = %f\tD = %f\n",
 				pid_data->p, pid_data->i, pid_data->d);
 			break;
-		case YAW :
+		case PID_YAW :
 			printf("Yaw Constants: P = %f\tI = %f\tD = %f\n",
 				pid_data->p, pid_data->i, pid_data->d);
 			break;
diff --git a/groundStation/src/frontend/frontend_getpid.c b/groundStation/src/frontend/frontend_getpid.c
index bd6b387cc9e64d60bd0e8db09d3bc0a850afadb0..fbde309c3169e4d2429f5c3cd06c7674709491a8 100644
--- a/groundStation/src/frontend/frontend_getpid.c
+++ b/groundStation/src/frontend/frontend_getpid.c
@@ -10,7 +10,7 @@
  * Example:
  *
  * struct frontend_pid_data pid_data;
- * pid_data.pid = PITCH;
+ * pid_data.pid = PID_PITCH;
  * if (frontend_getpid(conn, &pid_data)) {
  * 		error
  * } else {
@@ -24,13 +24,13 @@ int frontend_getpid(
 	
 	char line[100] = "";
 	switch (pid_data->controller) {
-		case PITCH :
+		case PID_PITCH :
 			strncpy(line, "getpitchp\ngetpitchd\n", 20);
 			break;
-		case ROLL :
+		case PID_ROLL :
 			strncpy(line, "getrollp\ngetrolld\n", 18);
 			break;
-		case YAW :
+		case PID_YAW :
 			strncpy(line, "getyawp\ngetyawd\n", 17);
 			break;
 		default :
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
index e4f65625c13c49f6d785cc06fdb6e7c6187c1ab5..efa24df4a2b018b1a3b353a109cd29a044647a13 100644
--- a/groundStation/src/frontend/pid_common.h
+++ b/groundStation/src/frontend/pid_common.h
@@ -2,10 +2,16 @@
 #define PID_COMMON_H
 
 enum pid_controller {
-	PITCH,
-	ROLL,
-	YAW,
-	NUM_PIDS
+	PID_PITCH,
+	PID_ROLL,
+	PID_YAW,
+	PID_PITCH_VELOCITY,
+	PID_ROLL_VELOCITY,
+	PID_YAW_VELOCITY,
+	PID_HEIGHT, /* Z */
+	PID_LAT, /* X */
+	PID_LONG, /* Y */
+	PID_NUM_PIDS
 };
 
 struct frontend_pid_data {