Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r316e7117180362d54af53818822694c4f936e550 -r90ff6d5060b3f679d17fada9057e4dcecdecae9c
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 316e7117180362d54af53818822694c4f936e550)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 90ff6d5060b3f679d17fada9057e4dcecdecae9c)
@@ -136,15 +136,15 @@
         controller->referenceSignal = referenceSignal;
         controller->measuredSignal = measuredSignal;
         // calculate error signal
-        controller->errorSignal = referenceSignal-measuredSignal;//fabs( referenceSignal ) - ( referenceSignal < 0.0 ? ( measuredSignal * -1.0 ) : measuredSignal );
+        controller->errorSignal = referenceSignal-measuredSignal;
         controller->errorSum += controller->errorSignal;
         // anti-windup
         controller->errorSumBeforeWindUp = controller->errorSum;
         // calculate control signal
         controlSignalBeforeWindup = ( controller->Kp * controller->errorSignal ) + ( controller->Ki * controller->errorSum );
         controller->controlSignal = RANGE( controlSignalBeforeWindup, controller->uMin, controller->uMax );
         // handle anti-windup for i term
-        windupError = controller->controlSignal - controlSignalBeforeWindup;
+        windupError = controlSignalBeforeWindup - controller->controlSignal;
         if ( fabs( windupError ) > NEARLY_ZERO )
         {
             controller->errorSum -= ( windupError / controller->Ki );