diff --git a/crazyflie_software/crazyflie-firmware-2021.06/Makefile b/crazyflie_software/crazyflie-firmware-2021.06/Makefile
index c2c764a02b0ec5ab5057ee2c51bc669f38f62672..a98077e99239e2fb27c46059ff626bdac058734f 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/Makefile
+++ b/crazyflie_software/crazyflie-firmware-2021.06/Makefile
@@ -178,6 +178,7 @@ PROJ_OBJ += attitude_pid_controller.o sensfusion6.o stabilizer.o
 PROJ_OBJ += position_estimator_altitude.o position_controller_pid.o position_controller_indi.o
 PROJ_OBJ += estimator.o estimator_complementary.o
 PROJ_OBJ += controller.o controller_pid.o controller_mellinger.o controller_indi.o
+PROJ_OBJ += student_attitude_controller.o student_pid.o
 PROJ_OBJ += controller_student.o
 PROJ_OBJ += power_distribution_$(POWER_DISTRIBUTION).o
 PROJ_OBJ += collision_avoidance.o health.o
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h
index 814c4c97e5ab44db2296f953eb5690f8924ea67c..5dc80537083d4c87c8a53172f2e5cda4dcf59cb9 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_attitude_controller.h
@@ -24,8 +24,8 @@
  * attitude_controller.h: PID-based attitude controller
  */
 
-#ifndef ATTITUDE_CONTROLLER_H_
-#define ATTITUDE_CONTROLLER_H_
+#ifndef STUDENT_ATTITUDE_CONTROLLER_H_
+#define STUDENT_ATTITUDE_CONTROLLER_H_
 
 #include <stdbool.h>
 #include "commander.h"
@@ -109,4 +109,4 @@ void attitudeControllerResetAllPID(void);
 void attitudeControllerGetActuatorOutput(int16_t* roll, int16_t* pitch, int16_t* yaw);
 
 
-#endif /* ATTITUDE_CONTROLLER_H_ */
+#endif /* STUDENT_ATTITUDE_CONTROLLER_H_ */
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h
index 480fe4dc864f8d491cd8f72f8372a90f6f2bd5a2..761a2edec27e710e305464febfc2f76da491f255 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/student_pid.h
@@ -1,5 +1,5 @@
-#ifndef PID_H_
-#define PID_H_
+#ifndef STUDENT_PID_H_
+#define STUDENT_PID_H_
 
 #include <stdbool.h>
 #include "filter.h"
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 9e2b45e4be1a7a8a136ef215772c2ecc09a626e2..d3945aa5b583793a3f52b19ec6e84fcf746207af 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
@@ -63,9 +63,12 @@ PidObject pidPitch;
 PidObject pidYaw;
 
 //attitude controller outputs
+//No longer needed since attitudeControllerCorrectRatePID modifies values in place
+/*
 static int16_t rollOutput;
 static int16_t pitchOutput;
 static int16_t yawOutput;
+*/
 
 static bool isInit;
 
@@ -177,6 +180,7 @@ void attitudeControllerResetAllPID(void)
   pidReset(&pidYawRate);
 }
 
+//no longer needed since attitudeControllerCorrectRatePID modifies the values in place
 /*void attitudeControllerGetActuatorOutput(int16_t* roll, int16_t* pitch, int16_t* yaw)
 {
   *roll = rollOutput;