diff --git a/PythonClient/airsim/types.py b/PythonClient/airsim/types.py
index 6bbbcfbae4..867f221df6 100644
--- a/PythonClient/airsim/types.py
+++ b/PythonClient/airsim/types.py
@@ -403,4 +403,98 @@ class DistanceSensorData(MsgpackMixin):
     distance = Quaternionr()
     min_distance = Quaternionr()
     max_distance = Quaternionr()
-    relative_pose = Pose()
\ No newline at end of file
+    relative_pose = Pose()
+
+class PIDGains():
+    """
+    Struct to store values of PID gains. Used to transmit controller gain values while instantiating
+    AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
+    
+    Attributes:
+        kP (float): Proportional gain
+        kI (float): Integrator gain
+        kD (float): Derivative gain
+    """
+    def __init__(self, kp, ki, kd):
+        self.kp = kp
+        self.ki = ki
+        self.kd = kd
+
+    def to_list(self):
+        return [self.kp, self.ki, self.kd]
+
+class AngleRateControllerGains():
+    """
+    Struct to contain controller gains used by angle level PID controller
+    
+    Attributes:
+        rollGains (PIDGains): kP, kI, kD for roll axis
+        pitchGains (PIDGains): kP, kI, kD for pitch axis
+        yawGains (PIDGains): kP, kI, kD for yaw axis
+    """
+    def __init__(self, rollGains = PIDGains(0.25, 0, 0),
+                       pitchGains = PIDGains(0.25, 0, 0),
+                       yawGains = PIDGains(0.25, 0, 0)):
+        self.rollGains = rollGains
+        self.pitchGains = pitchGains
+        self.yawGains = yawGains
+    
+    def to_lists(self):
+        return [self.rollGains.kp, self.pitchGains.kp, self.yawGains.kp], [self.rollGains.ki, self.pitchGains.ki, self.yawGains.ki], [self.rollGains.kd, self.pitchGains.kd, self.yawGains.kd]
+
+class AngleLevelControllerGains():
+    """
+    Struct to contain controller gains used by angle rate PID controller
+    
+    Attributes:
+        rollGains (PIDGains): kP, kI, kD for roll axis
+        pitchGains (PIDGains): kP, kI, kD for pitch axis
+        yawGains (PIDGains): kP, kI, kD for yaw axis
+    """
+    def __init__(self, rollGains = PIDGains(2.5, 0, 0),
+                       pitchGains = PIDGains(2.5, 0, 0),
+                       yawGains = PIDGains(2.5, 0, 0)):
+        self.rollGains = rollGains
+        self.pitchGains = pitchGains
+        self.yawGains = yawGains
+    
+    def to_lists(self):
+        return [self.rollGains.kp, self.pitchGains.kp, self.yawGains.kp], [self.rollGains.ki, self.pitchGains.ki, self.yawGains.ki], [self.rollGains.kd, self.pitchGains.kd, self.yawGains.kd]
+
+class VelocityControllerGains():
+    """
+    Struct to contain controller gains used by velocity PID controller
+    
+    Attributes:
+        xGains (PIDGains): kP, kI, kD for X axis
+        yGains (PIDGains): kP, kI, kD for Y axis
+        zGains (PIDGains): kP, kI, kD for Z axis
+    """
+    def __init__(self, xGains = PIDGains(0.2, 0, 0),
+                       yGains = PIDGains(0.2, 0, 0),
+                       zGains = PIDGains(2.0, 2.0, 0)):
+        self.xGains = xGains
+        self.yGains = yGains
+        self.zGains = zGains
+    
+    def to_lists(self):
+        return [self.xGains.kp, self.yGains.kp, self.zGains.kp], [self.xGains.ki, self.yGains.ki, self.zGains.ki], [self.xGains.kd, self.yGains.kd, self.zGains.kd]
+
+class PositionControllerGains():
+    """
+    Struct to contain controller gains used by position PID controller
+    
+    Attributes:
+        xGains (PIDGains): kP, kI, kD for X axis
+        yGains (PIDGains): kP, kI, kD for Y axis
+        zGains (PIDGains): kP, kI, kD for Z axis
+    """
+    def __init__(self, xGains = PIDGains(0.25, 0, 0),
+                       yGains = PIDGains(0.25, 0, 0),
+                       zGains = PIDGains(0.25, 0, 0)):
+        self.xGains = xGains
+        self.yGains = yGains
+        self.zGains = zGains
+    
+    def to_lists(self):
+        return [self.xGains.kp, self.yGains.kp, self.zGains.kp], [self.xGains.ki, self.yGains.ki, self.zGains.ki], [self.xGains.kd, self.yGains.kd, self.zGains.kd]