diff --git a/controller/fw/embed/include/config.h b/controller/fw/embed/include/config.h
index 26ac082..afcb135 100644
--- a/controller/fw/embed/include/config.h
+++ b/controller/fw/embed/include/config.h
@@ -4,7 +4,7 @@
 #include <DRV8313.h>
 #include <SimpleFOC.h>
 #include <STM32_CAN.h>
-
+#include "flash.h"
 
 extern STM32_CAN Can;
 extern SPIClass spi;
@@ -26,6 +26,6 @@ extern MotorControlInputs motor_control_inputs;
 void doMotor(char *cmd);
 void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
                DRV8313Driver *driver, LowsideCurrentSense *current_sense,
-               Commander *commander, CommandCallback callback);
+               Commander *commander, CommandCallback callback,FLASH_RECORD* pid_data);
 
 void foc_step(BLDCMotor *motor, Commander *commander);
diff --git a/controller/fw/embed/src/config.cpp b/controller/fw/embed/src/config.cpp
index cf33e98..5084cf0 100644
--- a/controller/fw/embed/src/config.cpp
+++ b/controller/fw/embed/src/config.cpp
@@ -1,5 +1,6 @@
 #include "config.h"
 
+
 void doMotor(char *cmd) {
   command.motor(&motor, cmd);
   digitalWrite(PC10, !digitalRead(PC10));
@@ -10,8 +11,18 @@ void doMotor(char *cmd) {
 
 void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
                DRV8313Driver *driver, LowsideCurrentSense *current_sense,
-               Commander *commander, CommandCallback callback) {
+               Commander *commander, CommandCallback callback,FLASH_RECORD* pid_data) {
   encoder->init(&spi);
+  
+  /* convert data from flash int value to float*/
+  conv_float_to_int.i = pid_data[pid_p].value;
+  float p = conv_float_to_int.f;
+
+  conv_float_to_int.i = pid_data[pid_i].value;
+  float i = conv_float_to_int.f;
+
+  conv_float_to_int.i = pid_data[pid_d].value;
+  float d = conv_float_to_int.f;
 
   // Driver configuration
   driver->pwm_frequency = 20000;
@@ -37,14 +48,16 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
   motor->PID_velocity.P = 0.75f;
   motor->PID_velocity.I = 20.0f;
   motor->LPF_velocity.Tf = 0.005f;
-  motor->P_angle.P = 0.5f;
+  motor->P_angle.P = p;
+  motor->P_angle.I = i;
+  motor->P_angle.D = d;
   motor->LPF_angle.Tf = 0.001f;
 
   // Motor limits
   motor->velocity_limit = 40;  // Speed limit in rad/s (382 rpm)
   motor->voltage_limit = 24;
   motor->current_limit = 0.5;
-
+  
   motor->sensor_direction = Direction::CCW;
   motor->init();
   motor->initFOC();
@@ -69,4 +82,4 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
   motor->move();
   motor->monitor();
   commander->run();
-}
\ No newline at end of file
+}
diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index 8bce7b0..57302eb 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -83,7 +83,7 @@ volatile uint32_t ipsr_value = 0;
   // flash_rec = load_params();
   
   // Initialize FOC system
-  setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor);
+  setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor,flash_rec);
   
   CAN2->IER |= CAN_IER_FMPIE0 |  // Сообщение в FIFO0
   CAN_IER_FFIE0 |   // FIFO0 full
diff --git a/controller/fw/embed/src/process_can.cpp b/controller/fw/embed/src/process_can.cpp
index 682253e..3730926 100644
--- a/controller/fw/embed/src/process_can.cpp
+++ b/controller/fw/embed/src/process_can.cpp
@@ -129,23 +129,24 @@ void setup_angle(float target_angle) {
   motor.move(target_angle);
 }
 
-void setup_pid_angle(uint8_t param_pid, float data){
-  switch (param_pid) {
-    case pid_p:
-      motor.P_angle.P = data;
-      break;
-    case pid_i:
-      motor.P_angle.I = data;
-      break;
-    case pid_d:
-      motor.P_angle.D = data;
-      break;
-    default:
-      break;
-  }
+// void setup_pid_angle(uint8_t param_pid, uint32_t data){
+//   conv_float_to_int.f = data;
+//   switch (param_pid) {
+//     case pid_p:
+//       motor.P_angle.P = conv_float_to_int.f;
+//       break;
+//     case pid_i:
+//       motor.P_angle.I = conv_float_to_int.f;
+//       break;
+//     case pid_d:
+//       motor.P_angle.D = conv_float_to_int.f;
+//       break;
+//     default:
+//       break;
+//   }
 
-  write_param(param_pid,data);
-}
+//   write_param(param_pid,data);
+// }
 
 
 void listen_can(const CAN_message_t &msg) {