diff --git a/firmware/util/math/pid.h b/firmware/util/math/pid.h
index c56f50f08d..568cf4dd18 100644
--- a/firmware/util/math/pid.h
+++ b/firmware/util/math/pid.h
@@ -126,3 +126,14 @@ public:
 private:
 	float limitOutput(float v) const;
 };
+
+
+// todo: composition instead of inheritance? :(
+class PidWithParameters : public Pid {
+public:
+	pid_s parametersStorage;
+
+	PidWithParameters() {
+		initPidClass(&parametersStorage);
+	}
+};