Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r1adf63258d838dea53d8e283d752e7c24626ab0b -r3ed56772e4ca7f562dd3647ee56396d63ea0a077
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 1adf63258d838dea53d8e283d752e7c24626ab0b)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 3ed56772e4ca7f562dd3647ee56396d63ea0a077)
@@ -290,7 +290,7 @@
  * @param signalID signal sample ID request
  * @return latest sample requested
  *************************************************************************/
-void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID, F32 stepLimit )
+void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit )
 {
     PI_CONTROLLER_T *controller;
     F32 maxStepLimit = 1.0;
@@ -299,29 +299,20 @@
     {
         SET_CONTROLLER( controller, controllerID );
 
-        switch( signalID )
+        if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < maxStepLimit ) )
         {
-            case CONTROLLER_SIGNAL_MAX_ERROR_PER_STEP:
-                if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < maxStepLimit ) )
-                {
-                    controller->maxErrorSumStep = stepLimit;
-                }
-                else
-                {
-                    SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
-                }
-                break;
+            controller->maxErrorSumStep = stepLimit;
+        }
+        else
+        {
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
+        }
 
-            default:
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
-                break;
-        } // End of switch
     }
     else
     {   // Invalid controller given
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
-
 }
 
 /**@}*/
Index: firmware/App/Services/PIControllers.h
===================================================================
diff -u -re832be54a818fe1af79b225e4b43cd148be89fa4 -r3ed56772e4ca7f562dd3647ee56396d63ea0a077
--- firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision e832be54a818fe1af79b225e4b43cd148be89fa4)
+++ firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 3ed56772e4ca7f562dd3647ee56396d63ea0a077)
@@ -50,7 +50,6 @@
     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;