diff --git a/libraries/AC_PID/AC_HELI_PID.h b/libraries/AC_PID/AC_HELI_PID.h
index 7435acdc40..8a6b7274a4 100644
--- a/libraries/AC_PID/AC_HELI_PID.h
+++ b/libraries/AC_PID/AC_HELI_PID.h
@@ -19,6 +19,8 @@ public:
     /// Constructor for PID
     AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dt);
 
+    CLASS_NO_COPY(AC_HELI_PID);
+
     /// update_leaky_i - replacement for get_i but output is leaked at leak_rate
     void       update_leaky_i(float leak_rate);
 
diff --git a/libraries/AC_PID/AC_P.h b/libraries/AC_PID/AC_P.h
index 76abdf3424..3ec4681661 100644
--- a/libraries/AC_PID/AC_P.h
+++ b/libraries/AC_PID/AC_P.h
@@ -26,6 +26,8 @@ public:
         _kp = initial_p;
     }
 
+    CLASS_NO_COPY(AC_P);
+
     /// Iterate the P controller, return the new control value
     ///
     /// Positive error produces positive output.
diff --git a/libraries/AC_PID/AC_PI.h b/libraries/AC_PID/AC_PI.h
index 6e90cfd101..cdd894af98 100644
--- a/libraries/AC_PID/AC_PI.h
+++ b/libraries/AC_PID/AC_PI.h
@@ -12,6 +12,8 @@ public:
     // Constructor
     AC_PI(float initial_p, float initial_i, float initial_imax);
 
+    CLASS_NO_COPY(AC_PI);
+
     // update controller
     float update(float measurement, float target, float dt);
 
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 3476643fdd..faaaabee5e 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -24,6 +24,8 @@ public:
     AC_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz,
            float dt, float initial_srmax=0, float initial_srtau=1.0);
 
+    CLASS_NO_COPY(AC_PID);
+
     // set_dt - set time step in seconds
     void set_dt(float dt);
 
diff --git a/libraries/AC_PID/AC_PID_2D.h b/libraries/AC_PID/AC_PID_2D.h
index 766f6d9905..f09ee284e5 100644
--- a/libraries/AC_PID/AC_PID_2D.h
+++ b/libraries/AC_PID/AC_PID_2D.h
@@ -17,6 +17,8 @@ public:
     // Constructor for PID
     AC_PID_2D(float initial_kP, float initial_kI, float initial_kD, float initial_kFF, float initial_imax, float initial_filt_hz, float initial_filt_d_hz, float dt);
 
+    CLASS_NO_COPY(AC_PID_2D);
+
     // set time step in seconds
     void set_dt(float dt) { _dt = dt; }
 
diff --git a/libraries/AC_PID/AC_PI_2D.h b/libraries/AC_PID/AC_PI_2D.h
index 079bb5d15c..9e4ded2059 100644
--- a/libraries/AC_PID/AC_PI_2D.h
+++ b/libraries/AC_PID/AC_PI_2D.h
@@ -19,6 +19,8 @@ public:
     // constructor
     AC_PI_2D(float initial_p, float initial_i, float initial_imax, float initial_filt_hz, float dt);
 
+    CLASS_NO_COPY(AC_PI_2D);
+
     // set time step in seconds
     void set_dt(float dt);
 
diff --git a/libraries/AC_PID/AC_P_1D.h b/libraries/AC_PID/AC_P_1D.h
index 32f59de12c..046d5e02be 100644
--- a/libraries/AC_PID/AC_P_1D.h
+++ b/libraries/AC_PID/AC_P_1D.h
@@ -14,6 +14,8 @@ public:
     // constructor
     AC_P_1D(float initial_p, float dt);
 
+    CLASS_NO_COPY(AC_P_1D);
+
     // set time step in seconds
     void set_dt(float dt) { _dt = dt; }
 
diff --git a/libraries/AC_PID/AC_P_2D.h b/libraries/AC_PID/AC_P_2D.h
index 9fdf2dc47a..ecef569566 100644
--- a/libraries/AC_PID/AC_P_2D.h
+++ b/libraries/AC_PID/AC_P_2D.h
@@ -14,6 +14,8 @@ public:
     // constructor
     AC_P_2D(float initial_p, float dt);
 
+    CLASS_NO_COPY(AC_P_2D);
+
     // set time step in seconds
     void set_dt(float dt) { _dt = dt; }