by the end of S27 we will know if we need to keep this module. If so, then we can integrate it into PIControllers.c

If this is the core change, can we introduce this logic in PI controller.c itself with a simple flag check (say, if 'IsDerivativeEnabled" set to true, add the derivative signal to Control signal. else, just a PI control signal would work. (something similar to Feed forward enabled flag)

nope. removed.

fixed

fixed

fixed

fixed

Add blank line before return.

Add blank line after declarations.

Why U32? Why not RECOVER_STATE_T?

Lower case x

Is blood flow in need of a PID controller too?

fixed.

When comment is above, use /// instead of ///<. And add blank lines before/after - doxygen seems to get confused about where to apply the comment without clear separation.

fixed for both _TO_PWM macros

its been removed. looks like we send everything down as a percentage now and the fluid pump driver will change it counts.

For long macros, consider moving doxygen comment from right side to line above with /// since right side won't line up with others.

I don't see this macro being used anywhere.

Updated

Added