Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r6499ea25921fcf67826fa0c35bb03caf411ba542 -r2c08db070a6e09306caf461e7aceeb53097fd995
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 6499ea25921fcf67826fa0c35bb03caf411ba542)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 2c08db070a6e09306caf461e7aceeb53097fd995)
@@ -169,7 +169,7 @@
         if ( controller->direction == CONTROLLER_UNIDIRECTIONAL )
         {
             // Control should always be positive
-            controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0 ? ( measuredSignal * -1.0 ) : measuredSignal );
+            controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0F ? ( measuredSignal * -1.0F ) : measuredSignal );
         }
         else
         {
@@ -179,9 +179,9 @@
         // Limit error sum step size
         if ( fabs( controller->errorSignal ) > controller->maxErrorSumStep )
         {
-            if ( controller->errorSignal < 0.0 )
+            if ( controller->errorSignal < 0.0F )
             {
-                controller->errorSum += ( controller->maxErrorSumStep * -1.0 );
+                controller->errorSum += ( controller->maxErrorSumStep * -1.0F );
             }
             else
             {