Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -rb7298b2e9866dbf4aa03c1aaffc662e47a8dc92c -r7462b03d6159cb3cd5ffc20ef2914222d69af13c
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision b7298b2e9866dbf4aa03c1aaffc662e47a8dc92c)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 7462b03d6159cb3cd5ffc20ef2914222d69af13c)
@@ -52,14 +52,12 @@
 #define MIN_RO_PUMP_DUTY_CYCLE                         0.0F                                        ///< Min duty cycle.
 
 #define ROP_CONTROL_INTERVAL                           ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )   ///< Interval (ms/task time) at which the RO pump is controlled.
-#define ROP_RAMP_UP_CONTROL_INTERVAL                   ( 500 / TASK_GENERAL_INTERVAL )             ///< Interval (ms/task time) at which the RO pump is controlled.
-#define ROP_RAMP_UP_P_COEFFICIENT                      0.22F                                       ///< P term for RO pump ramp up to flow control.
 #define ROP_FLOW_CONTROL_P_COEFFICIENT                 0.15F                                       ///< P term for RO pump flow control.
 #define ROP_FLOW_CONTROL_I_COEFFICIENT                 0.65F                                       ///< I term for RO pump flow control.
 
 #define ROP_MAX_PRESSURE_P_COEFFICIENT                 0.01F                                       ///< P term for RO pump max pressure control.
 #define ROP_MAX_PRESSURE_I_COEFFICIENT                 0.01F                                       ///< I term for RO pump max pressure control.
-
+#define ROP_PWM_STEP_LIMIT                             0.50F                                       ///< Current maximum PWM step limit used in RO Profiles.
 #define ROP_FLOW_TARGET_TOLERANCE                      0.03F                                       ///< Tolerance in between the target flow rate and the actual flow rate in percentage.
 #define ROP_RAMP_DOWN_DUTY_CYCLE_RATIO                 0.03F                                       ///< Pump ramp down duty cycle ratio when the pressure higher than max defined.
 
@@ -135,15 +133,16 @@
 static RO_PI_FLOW_PROFILES_T currentROPumpProfile;
 
 ///< RO Pump flow profile table.
+///< Most values are currently the same until future efforts into fine tuning op modes.
 static PI_CONTROLLER_PROFILE_DATA_T roPIFlowProfiles[ NUM_OF_RO_PI_FLOW_PROFILES ] =
-{ // Kp                            Ki                              uMin                    uMax                    Control Interval
- { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_FLUSH
- { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_GEN_IDLE
- { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_FILL
- { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_DRAIN
- { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_HEAT
- { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_OPEN_LOOP
-};// Kp                            Ki                              uMin                    uMax                    Control Interval
+{ // Kp                            Ki                              uMin                    uMax                    maxErrorSumStep     Control Interval
+ { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_PWM_STEP_LIMIT, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_FLUSH
+ { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_PWM_STEP_LIMIT, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_GEN_IDLE
+ { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_PWM_STEP_LIMIT, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_FILL
+ { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_PWM_STEP_LIMIT, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_DRAIN
+ { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_PWM_STEP_LIMIT, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_HEAT
+ { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE, ROP_PWM_STEP_LIMIT, ROP_CONTROL_INTERVAL }, ///< RO_PI_FLOW_PROFILE_OPEN_LOOP
+};// Kp                            Ki                              uMin                    uMax                    maxErrorSumStep     Control Interval
 
 // ********** private function prototypes **********
 
@@ -808,6 +807,8 @@
                                 roPIFlowProfiles[ profileID ].Kp, roPIFlowProfiles[ profileID ].Ki,
                                 roPIFlowProfiles[ profileID ].uMin, roPIFlowProfiles[ profileID ].uMax );
 
+        setPIControllerStepLimit( PI_CONTROLLER_ID_RO_PUMP_FLOW, CONTROLLER_SIGNAL_MAX_ERROR_PER_STEP,
+                                  roPIFlowProfiles[ profileID ].maxErrorSumStep );
         currentROPumpProfile = profileID;
     }
     else