diff --git a/src/Logic/FlightController.cpp b/src/Logic/FlightController.cpp
index f81c533..7ddc5e2 100644
--- a/src/Logic/FlightController.cpp
+++ b/src/Logic/FlightController.cpp
@@ -173,33 +173,24 @@ void FlightController::stopAllRotors() {
 
 void FlightController::setHeightControllerParams(float p, float i, float d) {
     if (_status == DeviceStatus::Idle) {
-        _heightController->Kp = p;
-        _heightController->Ki = i;
-        _heightController->Kd = d;
-        _heightController->save();
+        _heightController->setParams({.p = p, .i = i, .d = d});
     }
 }
 
 void FlightController::setYawControllerParams(float p, float i, float d) {
     if (_status == DeviceStatus::Idle) {
-        _yawController->Kp = p;
-        _yawController->Ki = i;
-        _yawController->Kd = d;
-        _heightController->save();
+        _heightController->setParams({.p = p, .i = i, .d = d});
     }
 }
 
 void FlightController::setPitchControllerParams(float p, float i, float d) {
     if (_status == DeviceStatus::Idle) {
-        _tailRotorController->Kp = p;
-        _tailRotorController->Ki = i;
-        _tailRotorController->Kd = d;
-        _heightController->save();
+        _heightController->setParams({.p = p, .i = i, .d = d});
     }
 }
 
 PidSettings FlightController::pidSettings() const {
-    PidSettings settings;
+    PidSettings settings{};
     settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
     settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
     settings.pitchController = {.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd};
diff --git a/src/Logic/SavedPidRegulator.hpp b/src/Logic/SavedPidRegulator.hpp
index d175975..9ddef2d 100644
--- a/src/Logic/SavedPidRegulator.hpp
+++ b/src/Logic/SavedPidRegulator.hpp
@@ -26,13 +26,14 @@ public:
         this->Kp = params.p;
         this->Ki = params.i;
         this->Kd = params.d;
+        save();
     }
 
-    std::shared_ptr<PidParams> getParams() {
-        std::shared_ptr params = std::make_unique<PidParams>();
-        params->p = Kp;
-        params->i = Ki;
-        params->d = Kd;
+    PidParams getParams() {
+        PidParams params{};
+        params.p = Kp;
+        params.i = Ki;
+        params.d = Kd;
         return params;
     }
 
diff --git a/src/main.cpp b/src/main.cpp
index b493106..d4cce67 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -17,11 +17,11 @@ void setup() {
                                 new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
                                 new Kalman2DFilter(10.f, 1.f, 1.8f),
                                 new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
-                    new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightController"),  // height
-                    new SavedPidRegulator(2.f, 12.f, 0.f, "YawController"),  // yaw
+                    new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"),  // height
+                    new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"),  // yaw
                     new BrushedMotor(1, 2, 3, 4, 1),
                     new BrushedMotor(1, 2, 3, 4, 1),
-                    new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollController"),  // pitch
+                    new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollControl"),  // pitch
                     true)));
 }