diff --git a/firmware/util/math/pid.cpp b/firmware/util/math/pid.cpp
index 1cd09b0ba7..8546df9aa4 100644
--- a/firmware/util/math/pid.cpp
+++ b/firmware/util/math/pid.cpp
@@ -12,6 +12,7 @@
 #include "os_access.h"
 #include "pid.h"
 #include "math.h"
+#include "engine_configuration_generated_structures.h"
 
 Pid::Pid() {
 	initPidClass(NULL);
@@ -28,7 +29,7 @@ void Pid::initPidClass(pid_s *parameters) {
 	reset();
 }
 
-bool Pid::isSame(pid_s *parameters) const {
+bool Pid::isSame(const pid_s *parameters) const {
 	efiAssert(OBD_PCM_Processor_Fault, this->parameters != NULL, "PID::isSame invalid", false);
 	efiAssert(OBD_PCM_Processor_Fault, parameters != NULL, "PID::isSame NULL", false);
 	return this->parameters->pFactor == parameters->pFactor
@@ -153,7 +154,7 @@ void Pid::sleep() {
 #endif /* EFI_UNIT_TEST */
 }
 
-void Pid::showPidStatus(Logging *logging, const char*msg) {
+void Pid::showPidStatus(Logging *logging, const char*msg) const {
 	scheduleMsg(logging, "%s settings: offset=%f P=%.5f I=%.5f D=%.5f period=%dms",
 			msg,
 			getOffset(),
diff --git a/firmware/util/math/pid.h b/firmware/util/math/pid.h
index becd8be186..1374894317 100644
--- a/firmware/util/math/pid.h
+++ b/firmware/util/math/pid.h
@@ -8,8 +8,6 @@
 #ifndef PID_H_
 #define PID_H_
 
-#include "global.h"
-#include "engine_configuration_generated_structures.h"
 #include "engine_state_generated.h"
 #include "pid_state_generated.h"
 
@@ -30,13 +28,16 @@
 
 #define MS2SEC(x) (x * 0.001)
 
+struct pid_s;
+class Logging;
+
 class Pid : public pid_state_s {
 
 public:
 	Pid();
 	explicit Pid(pid_s *parameters);
 	void initPidClass(pid_s *parameters);
-	bool isSame(pid_s *parameters) const;
+	bool isSame(const pid_s *parameters) const;
 
 	/**
 	 * This version of the method takes dTime from pid_s
@@ -62,7 +63,7 @@ public:
 	void postState(TunerStudioOutputChannels *tsOutputChannels);
 	void postState(TunerStudioOutputChannels *tsOutputChannels, int pMult);
 #endif /* EFI_TUNER_STUDIO */
-	void showPidStatus(Logging *logging, const char*msg);
+	void showPidStatus(Logging *logging, const char*msg) const;
 	void sleep();
 	int resetCounter;
 	// todo: move this to pid_s one day