diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/attitude_pid_controller.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/attitude_pid_controller.c
index 9b04bc840c8f11b628f3bd799b2064e427d66ebe..97f82f1df742b5ce4d32afd358ea6444fa718b0c 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/attitude_pid_controller.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/attitude_pid_controller.c
@@ -176,7 +176,7 @@ void attitudeControllerGetActuatorOutput(int16_t* roll, int16_t* pitch, int16_t*
 /**
  *  Log variables of attitude PID controller
  */ 
-LOG_GROUP_START(s_pid_attitude)
+LOG_GROUP_START(pid_attitude)
 /**
  * @brief Proportional output roll
  */
@@ -213,12 +213,12 @@ LOG_ADD(LOG_FLOAT, yaw_outI, &pidYaw.outI)
  * @brief Derivative output yaw
  */
 LOG_ADD(LOG_FLOAT, yaw_outD, &pidYaw.outD)
-LOG_GROUP_STOP(s_pid_attitude)
+LOG_GROUP_STOP(pid_attitude)
 
 /**
  *  Log variables of attitude rate PID controller
  */
-LOG_GROUP_START(s_pid_rate)
+LOG_GROUP_START(pid_rate)
 /**
  * @brief Proportional output roll rate
  */
@@ -255,14 +255,14 @@ LOG_ADD(LOG_FLOAT, yaw_outI, &pidYawRate.outI)
  * @brief Derivative output yaw rate
  */
 LOG_ADD(LOG_FLOAT, yaw_outD, &pidYawRate.outD)
-LOG_GROUP_STOP(s_pid_rate)
+LOG_GROUP_STOP(pid_rate)
 
 /**
  * Tuning settings for the gains of the PID
  * controller for the attitude of the Crazyflie which consists
  * of the Yaw Pitch and Roll 
  */
-PARAM_GROUP_START(s_pid_attitude)
+PARAM_GROUP_START(pid_attitude)
 /**
  * @brief Proportional gain for the PID roll controller
  */
@@ -299,13 +299,13 @@ PARAM_ADD(PARAM_FLOAT, yaw_ki, &pidYaw.ki)
  * @brief Derivative gain for the PID yaw controller
  */
 PARAM_ADD(PARAM_FLOAT, yaw_kd, &pidYaw.kd)
-PARAM_GROUP_STOP(s_pid_attitude)
+PARAM_GROUP_STOP(pid_attitude)
 
 /**
  * Tuning settings for the gains of the PID controller for the rate angles of
  * the Crazyflie, which consists of the yaw, pitch and roll rates 
  */
-PARAM_GROUP_START(s_pid_rate)
+PARAM_GROUP_START(pid_rate)
 /**
  * @brief Proportional gain for the PID roll rate controller
  */
@@ -342,4 +342,4 @@ PARAM_ADD(PARAM_FLOAT, yaw_ki, &pidYawRate.ki)
  * @brief Derivative gain for the PID yaw rate controller
  */
 PARAM_ADD(PARAM_FLOAT, yaw_kd, &pidYawRate.kd)
-PARAM_GROUP_STOP(s_pid_rate)
+PARAM_GROUP_STOP(pid_rate)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
index 2beb05d3d2b8522f4763405993e9a1018edb99c4..07c726af67399708fb4a78223cf618b3bd7288c5 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
@@ -191,7 +191,7 @@ void studentAttitudeControllerResetAllPID(void)
 /**
  *  Log variables of attitude PID controller
  */ 
-LOG_GROUP_START(pid_attitude)
+LOG_GROUP_START(s_pid_attitude)
 /**
  * @brief Proportional output roll
  */
@@ -228,12 +228,12 @@ LOG_ADD(LOG_FLOAT, yaw_outI, &pidYaw.outI)
  * @brief Derivative output yaw
  */
 LOG_ADD(LOG_FLOAT, yaw_outD, &pidYaw.outD)
-LOG_GROUP_STOP(pid_attitude)
+LOG_GROUP_STOP(s_pid_attitude)
 
 /**
  *  Log variables of attitude rate PID controller
  */
-LOG_GROUP_START(pid_rate)
+LOG_GROUP_START(s_pid_rate)
 /**
  * @brief Proportional output roll rate
  */
@@ -270,14 +270,14 @@ LOG_ADD(LOG_FLOAT, yaw_outI, &pidYawRate.outI)
  * @brief Derivative output yaw rate
  */
 LOG_ADD(LOG_FLOAT, yaw_outD, &pidYawRate.outD)
-LOG_GROUP_STOP(pid_rate)
+LOG_GROUP_STOP(s_pid_rate)
 
 /**
  * Tuning settings for the gains of the PID
  * controller for the attitude of the Crazyflie which consists
  * of the Yaw Pitch and Roll 
  */
-PARAM_GROUP_START(pid_attitude)
+PARAM_GROUP_START(s_pid_attitude)
 /**
  * @brief Proportional gain for the PID roll controller
  */
@@ -314,13 +314,13 @@ PARAM_ADD(PARAM_FLOAT, yaw_ki, &pidYaw.ki)
  * @brief Derivative gain for the PID yaw controller
  */
 PARAM_ADD(PARAM_FLOAT, yaw_kd, &pidYaw.kd)
-PARAM_GROUP_STOP(pid_attitude)
+PARAM_GROUP_STOP(s_pid_attitude)
 
 /**
  * Tuning settings for the gains of the PID controller for the rate angles of
  * the Crazyflie, which consists of the yaw, pitch and roll rates 
  */
-PARAM_GROUP_START(pid_rate)
+PARAM_GROUP_START(s_pid_rate)
 /**
  * @brief Proportional gain for the PID roll rate controller
  */
@@ -357,4 +357,4 @@ PARAM_ADD(PARAM_FLOAT, yaw_ki, &pidYawRate.ki)
  * @brief Derivative gain for the PID yaw rate controller
  */
 PARAM_ADD(PARAM_FLOAT, yaw_kd, &pidYawRate.kd)
-PARAM_GROUP_STOP(pid_rate)
+PARAM_GROUP_STOP(s_pid_rate)