Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -rdfc26c678cd9f0e2a2dda1d16a8d6b5f6660d689 -r7d4711edd7b40cd3e29f43e766f79a8a09586fe9
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision dfc26c678cd9f0e2a2dda1d16a8d6b5f6660d689)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 7d4711edd7b40cd3e29f43e766f79a8a09586fe9)
@@ -1,14 +1,14 @@
 /**************************************************************************
 *
-* Copyright (c) 2020-2022 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2020-2024 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
 * @file    PIControllers.c
 *
 * @author  (last)      Dara Navaei
-* @date    (last)      02-Nov-2021
+* @date    (last)      11-Jan-2023
 *
 * @author  (original)  Sean
 * @date    (original)  04-Feb-2020
@@ -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
             {