Index: firmware/App/Controllers/BoostPump.c
===================================================================
diff -u -r60693bf21a8a0277eae54cbfcb6cfd68176b079a -r4626638b758c6673c0a8a3cc8d008bb4a898cea9
--- firmware/App/Controllers/BoostPump.c	(.../BoostPump.c)	(revision 60693bf21a8a0277eae54cbfcb6cfd68176b079a)
+++ firmware/App/Controllers/BoostPump.c	(.../BoostPump.c)	(revision 4626638b758c6673c0a8a3cc8d008bb4a898cea9)
@@ -22,7 +22,7 @@
 #include "Messaging.h"
 #include "MessageSupport.h"
 #include "PersistentAlarm.h"
-#include "PIControllers.h"
+#include "PIDControllers.h"
 #include "Pressure.h"
 #include "SafetyShutdown.h"
 #include "TaskGeneral.h"
@@ -41,8 +41,9 @@
 
 #define BOOST_FLOW_CONTROL_P_COEFFICIENT                 0.15F                                        ///< P term for Boost pump flow control.
 #define BOOST_FLOW_CONTROL_I_COEFFICIENT                 0.65F                                        ///< I term for Boost pump flow control.
-#define BOOST_PRESSURE_CONTROL_P_COEFFICIENT             0.01F                                        ///< P term for Boost pump pressure control.
-#define BOOST_PRESSURE_CONTROL_I_COEFFICIENT             0.01F                                        ///< I term for Boost pump pressure control.
+#define BOOST_PRESSURE_CONTROL_P_COEFFICIENT             0.5F                                         ///< P term for Boost pump pressure control.
+#define BOOST_PRESSURE_CONTROL_I_COEFFICIENT             0.5F                                         ///< I term for Boost pump pressure control.
+#define BOOST_PRESSURE_CONTROL_D_COEFFICIENT             0.0F                                         ///< D term for Boost pump pressure control.
 
 #define BOOST_FLOW_TO_PWM_SLOPE                          0.5F                                         ///< Slope of flow to PWM line equation.
 #define BOOST_FLOW_TO_PWM_INTERCEPT                      0.0F                                         ///< Intercept of flow to PWM line equation.
@@ -92,13 +93,9 @@
 {
     initFluidPump();
 
-    // Initialize Boost pump PI controller to flow
-    initializePIController( PI_CONTROLLER_ID_BOOST_PUMP_FLOW, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, BOOST_FLOW_CONTROL_P_COEFFICIENT, BOOST_FLOW_CONTROL_I_COEFFICIENT,
-                            MIN_FLUID_PUMP_DUTY_CYCLE_PCT, MAX_P40_FLUID_PUMP_DUTY_CYCLE_PCT, FALSE, 0 );
-
     // Initialize Boost pump PI controller to target pressure
-    initializePIController( PI_CONTROLLER_ID_BOOST_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, BOOST_PRESSURE_CONTROL_P_COEFFICIENT, BOOST_PRESSURE_CONTROL_I_COEFFICIENT,
-                            MIN_FLUID_PUMP_DUTY_CYCLE_PCT, MAX_P40_FLUID_PUMP_DUTY_CYCLE_PCT, FALSE, 0 );
+    initializePIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, BOOST_PRESSURE_CONTROL_P_COEFFICIENT, BOOST_PRESSURE_CONTROL_I_COEFFICIENT,
+                             BOOST_PRESSURE_CONTROL_D_COEFFICIENT, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, MAX_P40_FLUID_PUMP_DUTY_CYCLE_PCT, FALSE, 0 );
 
     boostPumpState                                  = BOOST_PUMP_OFF_STATE;
     isBoostPumpOn                                   = FALSE;
@@ -189,7 +186,7 @@
             // Set pump to on
             isBoostPumpOn = TRUE;
             boostPumpDutyCyclePctSet = boostPumpPresToPWM( getTargetBoostPumpPressure() );
-            resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_PRES, boostPumpDutyCyclePctSet, 0.0F );
+            resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, boostPumpDutyCyclePctSet, 0.0F );
             setFluidPumpPctToPWMDutyCycle( P40_PUMP, boostPumpDutyCyclePctSet );
             state = BOOST_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
         }
@@ -200,7 +197,7 @@
             // Set pump to on
             isBoostPumpOn = TRUE;
             boostPumpDutyCyclePctSet = boostPumpFlowToPWM( getTargetBoostPumpFlowRateMLPM() );
-            resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_FLOW, boostPumpDutyCyclePctSet, 0.0F );
+            resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_FLOW, boostPumpDutyCyclePctSet, 0.0F );
             setFluidPumpPctToPWMDutyCycle( P40_PUMP, boostPumpDutyCyclePctSet );
             state = BOOST_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
         }
@@ -239,15 +236,15 @@
     if ( getTargetBoostPumpPressure() > 0.0F )
     {
         // Transition to closed loop
-        resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_PRES, boostPumpDutyCyclePctSet, 0.0F );
+        resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, boostPumpDutyCyclePctSet, 0.0F );
         state = BOOST_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
 
     // If there is a target flow set, transition to the PI controller and control to flow
     else if ( getTargetBoostPumpFlowRateMLPM() > 0 )
     {
         ///transition to closed loop
-        resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_FLOW, boostPumpDutyCyclePctSet, 0.0F );
+        resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_FLOW, boostPumpDutyCyclePctSet, 0.0F );
         state = BOOST_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
     }
     else if ( (F32)getTargetBoostPumpDutyCyclePCT() == 0.0F )
@@ -274,7 +271,7 @@
     if ( getTargetBoostPumpPressure() > 0.0F )
     {
         // Transition to target pressure
-        resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_PRES, boostPumpDutyCyclePctSet, 0 );
+        resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, boostPumpDutyCyclePctSet, 0 );
         state = BOOST_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
     else if ( getTargetBoostPumpDutyCyclePCT() > 0.0F )
@@ -291,7 +288,7 @@
     }
     else if ( ++boostControlTimerCounter >= BOOST_CONTROL_INTERVAL )
     {
-        boostPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_BOOST_PUMP_FLOW, (F32)getTargetBoostPumpFlowRateMLPM(), getFilteredFlow( P7_FLOW ) );
+        boostPumpDutyCyclePctSet = runPIDController( PID_CONTROLLER_ID_BOOST_PUMP_FLOW, (F32)getTargetBoostPumpFlowRateMLPM(), getFilteredFlow( P7_FLOW ) );
         boostPumpDutyCyclePctSet = MIN( boostPumpDutyCyclePctSet, ( MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE * MAX_P40_FLUID_PUMP_DUTY_CYCLE_PCT ) );
         setFluidPumpPctToPWMDutyCycle( P40_PUMP, boostPumpDutyCyclePctSet );
         boostControlTimerCounter = 0;
@@ -316,7 +313,7 @@
     if ( getTargetBoostPumpFlowRateMLPM() > 0.0F )
     {
         ///transition to target flow
-        resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_FLOW, boostPumpDutyCyclePctSet, 0.0F );
+        resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_FLOW, boostPumpDutyCyclePctSet, 0.0F );
         state = BOOST_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
     }
     else if ( getTargetBoostPumpDutyCyclePCT() > 0.0F )
@@ -333,7 +330,7 @@
     }
     else if ( ++boostControlTimerCounter >= BOOST_CONTROL_INTERVAL )
     {
-        boostPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_BOOST_PUMP_PRES, getTargetBoostPumpPressure(), getFilteredPressure( M3_PRES ) );
+        boostPumpDutyCyclePctSet = runPIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, getTargetBoostPumpPressure(), getFilteredPressure( M3_PRES ) );
         setFluidPumpPctToPWMDutyCycle( P40_PUMP, boostPumpDutyCyclePctSet );
         boostControlTimerCounter = 0;
     }
@@ -617,13 +614,13 @@
     if( targetBoostPumpFlowRate.data > 0.0F )
     {
         targetBoostPumpFlowRate.data = 0.0F;
-        resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_FLOW, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, 0 );
+        resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_FLOW, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, 0 );
     }
 
     if( targetBoostPumpPressure.data > 0.0F )
     {
         targetBoostPumpPressure.data = 0.0F;
-        resetPIController( PI_CONTROLLER_ID_BOOST_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, 0 );
+        resetPIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, 0 );
     }
 
     boostPumpState = BOOST_PUMP_OFF_STATE;