diff --git a/firmware/controllers/actuators/alternator_controller.cpp b/firmware/controllers/actuators/alternator_controller.cpp
index 32b043e22b..e11cd29f71 100644
--- a/firmware/controllers/actuators/alternator_controller.cpp
+++ b/firmware/controllers/actuators/alternator_controller.cpp
@@ -11,7 +11,7 @@
 
 #if EFI_ALTERNATOR_CONTROL
 #include "alternator_controller.h"
-#include "pid.h"
+#include "efi_pid.h"
 #include "local_version_holder.h"
 #include "periodic_task.h"
 
diff --git a/firmware/controllers/actuators/boost_control.h b/firmware/controllers/actuators/boost_control.h
index 9a324dd0ed..19bdd90461 100644
--- a/firmware/controllers/actuators/boost_control.h
+++ b/firmware/controllers/actuators/boost_control.h
@@ -8,7 +8,7 @@
 
 #include "periodic_task.h"
 #include "closed_loop_controller.h"
-#include "pid.h"
+#include "efi_pid.h"
 #include "boost_control_generated.h"
 
 struct IPwm;
diff --git a/firmware/controllers/actuators/electronic_throttle_impl.h b/firmware/controllers/actuators/electronic_throttle_impl.h
index 31306225d8..00dcf6493d 100644
--- a/firmware/controllers/actuators/electronic_throttle_impl.h
+++ b/firmware/controllers/actuators/electronic_throttle_impl.h
@@ -11,7 +11,7 @@
 #include "electronic_throttle.h"
 
 #include "sensor.h"
-#include "pid.h"
+#include "efi_pid.h"
 #include "error_accumulator.h"
 
 /**
diff --git a/firmware/controllers/actuators/idle_thread.h b/firmware/controllers/actuators/idle_thread.h
index 79bf5e1255..1b4a17fbc4 100644
--- a/firmware/controllers/actuators/idle_thread.h
+++ b/firmware/controllers/actuators/idle_thread.h
@@ -11,7 +11,7 @@
 #include "engine_module.h"
 #include "rusefi_types.h"
 #include "periodic_task.h"
-#include "pid.h"
+#include "efi_pid.h"
 
 struct IIdleController {
 	enum class Phase : uint8_t {
diff --git a/firmware/controllers/actuators/vvt.h b/firmware/controllers/actuators/vvt.h
index 51b484bc10..1bc4cc9e4b 100644
--- a/firmware/controllers/actuators/vvt.h
+++ b/firmware/controllers/actuators/vvt.h
@@ -10,7 +10,7 @@
 #include "periodic_task.h"
 #include "closed_loop_controller.h"
 #include "pwm_generator_logic.h"
-#include "pid.h"
+#include "efi_pid.h"
 
 class ValueProvider3D;
 
diff --git a/firmware/controllers/algo/engine_state.h b/firmware/controllers/algo/engine_state.h
index 350abc083e..4680622d01 100644
--- a/firmware/controllers/algo/engine_state.h
+++ b/firmware/controllers/algo/engine_state.h
@@ -10,7 +10,7 @@
 
 #include "global.h"
 #include "engine_parts.h"
-#include "pid.h"
+#include "efi_pid.h"
 #include "engine_state_generated.h"
 
 struct LuaAdjustments {
diff --git a/firmware/hw_layer/sensors/cj125_logic.h b/firmware/hw_layer/sensors/cj125_logic.h
index 9b448c8d9b..1d64943e0f 100644
--- a/firmware/hw_layer/sensors/cj125_logic.h
+++ b/firmware/hw_layer/sensors/cj125_logic.h
@@ -9,7 +9,7 @@
 
 #include "engine_configuration.h"
 #include "pwm_generator_logic.h"
-#include "pid.h"
+#include "efi_pid.h"
 
 typedef enum {
 	CJ125_LSU_42 = 0,
diff --git a/firmware/util/math/pid.cpp b/firmware/util/math/efi_pid.cpp
similarity index 99%
rename from firmware/util/math/pid.cpp
rename to firmware/util/math/efi_pid.cpp
index 7a0e907bf7..9572aec8fc 100644
--- a/firmware/util/math/pid.cpp
+++ b/firmware/util/math/efi_pid.cpp
@@ -10,7 +10,7 @@
 
 #include "pch.h"
 #include "os_access.h"
-#include "pid.h"
+#include "efi_pid.h"
 #include "math.h"
 
 Pid::Pid() {
diff --git a/firmware/util/math/pid.h b/firmware/util/math/efi_pid.h
similarity index 96%
rename from firmware/util/math/pid.h
rename to firmware/util/math/efi_pid.h
index 9f90aa6a32..301031cff0 100644
--- a/firmware/util/math/pid.h
+++ b/firmware/util/math/efi_pid.h
@@ -1,5 +1,8 @@
 /**
- * @file pid.h
+ * @file efi_pid.h
+ *
+ * everyone including ChibiOS-Contrib has a version of 'pid.h' so we use unique file name to avoid drama
+ *
  *
  * @date Sep 16, 2014
  * @author Andrey Belomutskiy, (c) 2012-2020
diff --git a/firmware/util/util.mk b/firmware/util/util.mk
index bf8d1e2885..585fbbb9f6 100644
--- a/firmware/util/util.mk
+++ b/firmware/util/util.mk
@@ -11,7 +11,7 @@ UTILSRC_CPP = \
 	$(UTIL_DIR)/containers/local_version_holder.cpp \
 	$(UTIL_DIR)/math/biquad.cpp \
 	$(UTIL_DIR)/math/error_accumulator.cpp \
-	$(UTIL_DIR)/math/pid.cpp \
+	$(UTIL_DIR)/math/efi_pid.cpp \
 	$(UTIL_DIR)/math/interpolation.cpp \
 	$(PROJECT_DIR)/util/datalogging.cpp \
 	$(PROJECT_DIR)/util/loggingcentral.cpp \
diff --git a/unit_tests/tests/test_idle_controller.cpp b/unit_tests/tests/test_idle_controller.cpp
index 67d0bcb151..e65937badf 100644
--- a/unit_tests/tests/test_idle_controller.cpp
+++ b/unit_tests/tests/test_idle_controller.cpp
@@ -8,7 +8,7 @@
 #include "pch.h"
 
 #include "advance_map.h"
-#include "pid.h"
+#include "efi_pid.h"
 #include "fsio_impl.h"
 #include "idle_thread.h"
 #include "electronic_throttle.h"
diff --git a/unit_tests/tests/test_pid.cpp b/unit_tests/tests/test_pid.cpp
index 0a954b13f3..8c8f5a284b 100644
--- a/unit_tests/tests/test_pid.cpp
+++ b/unit_tests/tests/test_pid.cpp
@@ -9,7 +9,7 @@
 
 #include "pch.h"
 
-#include "pid.h"
+#include "efi_pid.h"
 
 TEST(util, pid) {
 	pid_s pidS;