diff --git a/firmware/config/stm32f4ems/efifeatures.h b/firmware/config/stm32f4ems/efifeatures.h
index 0535d98f78..51f61199e4 100644
--- a/firmware/config/stm32f4ems/efifeatures.h
+++ b/firmware/config/stm32f4ems/efifeatures.h
@@ -72,6 +72,8 @@
 
 #define EFI_ALTERNATOR_CONTROL TRUE
 
+#define EFI_AUX_PID TRUE
+
 #define EFI_SIGNAL_EXECUTOR_SLEEP FALSE
 #define EFI_SIGNAL_EXECUTOR_ONE_TIMER TRUE
 #define EFI_SIGNAL_EXECUTOR_HW_TIMER FALSE
diff --git a/firmware/controllers/algo/aux_pid.cpp b/firmware/controllers/algo/aux_pid.cpp
index 82d72b3cb4..dc146ae722 100644
--- a/firmware/controllers/algo/aux_pid.cpp
+++ b/firmware/controllers/algo/aux_pid.cpp
@@ -7,7 +7,34 @@
 
 #include "aux_pid.h"
 
+#if EFI_AUX_PID || defined(__DOXYGEN__)
+
+EXTERN_ENGINE
+;
+
+// todo: this is to some extent a copy-paste of alternatorController. maybe same loop
+// for all PIDs?
+
+static THD_WORKING_AREA(auxPidThreadStack, UTILITY_THREAD_STACK_SIZE);
+
+static msg_t auxPidThread(int param) {
+	UNUSED(param);
+		chRegSetThreadName("AuxPidController");
+		while (true) {
+			int dt = maxI(10, engineConfiguration->auxPid1DT);
+			chThdSleepMilliseconds(dt);
+
+
+		}
+#if defined __GNUC__
+	return -1;
+#endif
+}
+
 void initAuxPid(Logging *sharedLogger) {
+	chThdCreateStatic(auxPidThreadStack, sizeof(auxPidThreadStack), LOWPRIO,
+			(tfunc_t) auxPidThread, NULL);
 
 }
 
+#endif
diff --git a/firmware/controllers/engine_controller.cpp b/firmware/controllers/engine_controller.cpp
index ac5970786f..2a79ee5c43 100644
--- a/firmware/controllers/engine_controller.cpp
+++ b/firmware/controllers/engine_controller.cpp
@@ -50,6 +50,7 @@
 #include "alternatorController.h"
 #include "fuel_math.h"
 #include "settings.h"
+#include "aux_pid.h"
 
 #if HAL_USE_ADC || defined(__DOXYGEN__)
 #include "AdcConfiguration.h"
@@ -617,6 +618,10 @@ void initEngineContoller(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_S) {
 	initAlternatorCtrl(sharedLogger);
 #endif
 
+#if EFI_AUX_PID || defined(__DOXYGEN__)
+	initAuxPid(sharedLogger);
+#endif
+
 #if EFI_ELECTRONIC_THROTTLE_BODY || defined(__DOXYGEN__)
 	initElectronicThrottle();
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */