Index: firmware/App/Services/PIControllers.h
===================================================================
diff -u -r29a9a5dbaf87d4ae86612c7ca8c27716f20d6381 -r1adf63258d838dea53d8e283d752e7c24626ab0b
--- firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 29a9a5dbaf87d4ae86612c7ca8c27716f20d6381)
+++ firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 1adf63258d838dea53d8e283d752e7c24626ab0b)
@@ -50,6 +50,7 @@
     CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
     CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
     CONTROLLER_SIGNAL_CONTROL,                      ///< Controller output signal
+    CONTROLLER_SIGNAL_MAX_ERROR_PER_STEP,           ///< Maximum change in I (error sum) for a single control interval.
     NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
 } PI_CONTROLLER_SIGNALS_ID;
 
@@ -61,6 +62,7 @@
     F32 Ki;                                 ///< Integral Value
     F32 uMin;                               ///< Minimum control signal
     F32 uMax;                               ///< Maximum control signal
+    F32 maxErrorSumStep;                    ///< Maximum change in I (error sum) for a single control interval.
     U32 controlInterval;                    ///< Control interval value
 } PI_CONTROLLER_PROFILE_DATA_T;
 
@@ -72,6 +74,7 @@
 void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal );
 F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );
+void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID, F32 stepLimit );
 
 
 /**@}*/