diff --git a/groundStation/.gitignore b/groundStation/.gitignore
index 129b670af25486e4818d221286346cec985a1f70..eedef6d30c2e030d1d5dbe4348c3d1330c14d679 100644
--- a/groundStation/.gitignore
+++ b/groundStation/.gitignore
@@ -39,9 +39,6 @@ src/vrpn/pc_linux64/*
 
 #Exacutables
 logs
-client
 BackEnd
 obj
-cli
-monitorQuad
-testClient
+CLI
diff --git a/groundStation/Makefile b/groundStation/Makefile
index 00c3383c62f7d35390ed0028e552da1795958de0..5f285d6b4b8d6d4ff94a4e76bafb2835f1b97354 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -19,7 +19,7 @@ BECPPSOURCES := $(wildcard $(BESRCDIR)/*.cpp )
 BECPPOBJECTS = $(BECPPSOURCES:$(BESRCDIR)/%.cpp=$(OBJDIR)/%.o)
 
 # CLI Specific Variables
-CLIBINARY=cli
+CLIBINARY=CLI
 CLISRCDIR=src/cli
 CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
 CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 49bb75b165bd5c83c9de21ba13c27119940fc043..b8ad2f7387173d59c862becd1d0d14d27c7b3bf8 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -43,7 +43,7 @@ int main(int argc, char **argv)
 	if(useSymlink) {
 		//TODO Call correct command function pointer with (argv[1] ... argc[argc])
 	}else {
-		(*cli_functions[0]) (conn, &argv[2]);
+		(*cli_functions[0]) (conn, argc - 1, &argv[2]);
 	}
 
 	ucart_backendDisconnect(conn);
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index ff43f1c1a32834eac61eb16ecdccaae650605663..4b98962d67086d94b424cd0ccbb90587e749e84d 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -15,7 +15,7 @@ enum CommandNameIds{
 	MAX_COMMANDS
 };
 
-typedef int (*cli_function_ptr)(struct backend_conn *, char **);
+typedef int (*cli_function_ptr)(struct backend_conn *, int, char **);
 static cli_function_ptr cli_functions[1] = {
 	// &cli_monitor,
 	// &cli_setpid,
diff --git a/groundStation/src/cli/cli_getimu.h b/groundStation/src/cli/cli_getimu.h
new file mode 100644
index 0000000000000000000000000000000000000000..3f69e4b154b9678845b7604a7d91c6b83bf72ee5
--- /dev/null
+++ b/groundStation/src/cli/cli_getimu.h
@@ -0,0 +1,9 @@
+#ifndef CLI_GETIMU_H
+#define CLI_GETIMU_H
+#include "frontend_getimu.h"
+
+int cli_getimu(
+		struct backend_conn * conn,
+		struct frontend_pid_data * pid_data);
+
+#endif
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
new file mode 100644
index 0000000000000000000000000000000000000000..fb1c627c87070390217dd915149cc94cbd8e3dac
--- /dev/null
+++ b/groundStation/src/cli/cli_getpid.c
@@ -0,0 +1,95 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_getpid.h"
+
+int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
+	int c;
+	static int getRoll = 0, getPitch = 0, getYaw = 0, getAll = 0;
+	struct frontend_pid_data pid_data;
+	static struct option long_options[] = {
+ 		/* These options don’t set a flag. We distinguish them by their indices. */
+ 		{"roll",	no_argument,	&getRoll,	1},
+ 		{"pitch",   no_argument,   	&getPitch, 	1},
+ 		{"yaw",   no_argument,   	&getYaw, 	1},
+ 		{0, 0, 0, 0}
+ 	};
+
+ 	while (1)
+	{
+		/* getopt_long stores the option index here. */
+		int option_index = 0;
+
+		c = getopt_long(argc, argv, "a", long_options, &option_index);
+
+		/* Detect the end of the options. */
+		if (c == -1)
+			break;
+
+		if (c == 'a') {
+			getAll = 1;
+		}
+	}
+	
+	int result;
+	if(getAll) {
+		pid_data.pid = ROLL;
+		if ((result = getValues(conn, &pid_data))) {
+			return result;
+		}
+		pid_data.pid = PITCH;
+		if ((result = getValues(conn, &pid_data))) {
+			return result;
+		}
+		pid_data.pid = YAW;
+		if ((result = getValues(conn, &pid_data))) {
+			return result;
+		}
+	} else {
+		if(getPitch) {
+			pid_data.pid = PITCH;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+		if(getRoll) {
+			pid_data.pid = ROLL;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+		if(getYaw) {
+			pid_data.pid = YAW;
+			if ((result = getValues(conn, &pid_data))) {
+				return result;
+			}
+		}
+	}
+
+	return 0;
+}
+
+int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
+	if(frontend_getpid(conn, pid_data)) {
+		return 1;
+	}
+
+	switch(pid_data->pid) {
+		case PITCH :
+			printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		case ROLL :
+			printf("Roll Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		case YAW :
+			printf("Yaw Constants: P = %f\tI = %f\tD = %f\n",
+				pid_data->p, pid_data->i, pid_data->d);
+			break;
+		default :
+			break;
+	}
+	return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getpid.h b/groundStation/src/cli/cli_getpid.h
new file mode 100644
index 0000000000000000000000000000000000000000..f5c0b15e4a2f2c7c5ad605a389b0c1b52a1344a6
--- /dev/null
+++ b/groundStation/src/cli/cli_getpid.h
@@ -0,0 +1,9 @@
+#ifndef CLI_GETPID_H
+#define CLI_GETPID_H
+
+#include "frontend_getpid.h"
+
+int getValues(struct backend_conn *, struct frontend_pid_data *);
+int cli_getpid(struct backend_conn * conn, int argc, char ** argv);
+
+#endif
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_monitor.h b/groundStation/src/cli/cli_monitor.h
new file mode 100644
index 0000000000000000000000000000000000000000..2509cc256a7b2e9568dcf12cd7eae14e17128476
--- /dev/null
+++ b/groundStation/src/cli/cli_monitor.h
@@ -0,0 +1,9 @@
+#ifndef CLI_MONITOR_H
+#define CLI_MONITOR_H
+#include "frontend_getpid.h"
+
+int cli_getpid(
+		struct backend_conn * conn,
+		struct frontend_pid_data * pid_data);
+
+#endif
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_setpid.h b/groundStation/src/cli/cli_setpid.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391