Index: firmware/App/Controllers/BoostPump.c
===================================================================
diff -u -r6c4b1bb9d485e9ab634c7775b707af0614e11788 -r9b970fd909c38f64f034cda1ffa793b9e1c8c365
--- firmware/App/Controllers/BoostPump.c	(.../BoostPump.c)	(revision 6c4b1bb9d485e9ab634c7775b707af0614e11788)
+++ firmware/App/Controllers/BoostPump.c	(.../BoostPump.c)	(revision 9b970fd909c38f64f034cda1ffa793b9e1c8c365)
@@ -41,20 +41,26 @@
 
 #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             0.5F                                         ///< 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_P_COEFFICIENT             0.00072F                                       ///< P term for Boost pump pressure control.
+#define BOOST_PRESSURE_CONTROL_I_COEFFICIENT             0.0004F                                       ///< I term for Boost pump pressure control.
+//#define BOOST_PRESSURE_CONTROL_P_COEFFICIENT             0.0024F                                       ///< P term for Boost pump pressure control.
+//#define BOOST_PRESSURE_CONTROL_I_COEFFICIENT             0.0008F                                       ///< 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.
-#define BOOST_PRESSURE_TO_PWM_SLOPE                      0.5F                                         ///< Slope of pressure to PWM line equation.
-#define BOOST_PRESSURE_TO_PWM_INTERCEPT                  0.0F                                         ///< Intercept of pressure  to PWM line equation.
+#define BOOST_PRESSURE_TO_PWM_SLOPE                      27.389F                                      ///< Slope of pressure to PWM line equation.
+#define BOOST_PRESSURE_TO_PWM_INTERCEPT                  -146.93F                                     ///< Intercept of pressure  to PWM line equation.
 
 #define DATA_PUBLISH_COUNTER_START_COUNT                 10                                           ///< Data publish counter start count.
 
 /// PWM line equation for pressure. converted to percentage.
-#define ROP_PRESSURE_TO_PWM_PCT(pres)                ( ( BOOST_PRESSURE_TO_PWM_SLOPE * pres + BOOST_PRESSURE_TO_PWM_INTERCEPT ) / MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE )
+#define BOOST_PRESSURE_TO_PWM_PCT(pres)                ( ( BOOST_PRESSURE_TO_PWM_SLOPE * pres + BOOST_PRESSURE_TO_PWM_INTERCEPT ) / MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE )
+/// PWM line equation for flow. converted to percentage.
+#define BOOST_FLOW_TO_PWM_PCT(pres)                ( ( BOOST_FLOW_TO_PWM_SLOPE * pres + BOOST_FLOW_TO_PWM_INTERCEPT ) / MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE )
 
+#define MIN_CONTROL_P40_FLUID_PUMP_DUTY_CYCLE_PCT       0.02F
+#define MAX_CONTROL_P40_FLUID_PUMP_DUTY_CYCLE_PCT       0.9F
 // ********** private data **********
 
 static BOOST_PUMP_STATE_T boostPumpState;                                                               ///< Current state of pump controller state machine.
@@ -289,7 +295,7 @@
     else if ( ++boostControlTimerCounter >= BOOST_CONTROL_INTERVAL )
     {
         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;
     }
@@ -330,7 +336,8 @@
     }
     else if ( ++boostControlTimerCounter >= BOOST_CONTROL_INTERVAL )
     {
-        boostPumpDutyCyclePctSet = runPIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, getTargetBoostPumpPressure(), getFilteredPressure( M3_PRES ) );
+        boostPumpDutyCyclePctSet = runPIDController( PID_CONTROLLER_ID_BOOST_PUMP_PRES, getTargetBoostPumpPressure(), getFilteredPressure( P8_PRES ) );
+        boostPumpDutyCyclePctSet = RANGE( boostPumpDutyCyclePctSet, MIN_CONTROL_P40_FLUID_PUMP_DUTY_CYCLE_PCT, MAX_CONTROL_P40_FLUID_PUMP_DUTY_CYCLE_PCT );
         setFluidPumpPctToPWMDutyCycle( P40_PUMP, boostPumpDutyCyclePctSet );
         boostControlTimerCounter = 0;
     }
@@ -434,6 +441,7 @@
             boostPumpDutyCyclePctSet = boostPumpPresToPWM( getTargetBoostPumpPressure() );
             boostControlTimerCounter = 0;
             isBoostPumpOn = TRUE;
+            result = TRUE;
 
         }
     }
@@ -580,7 +588,7 @@
 
 static F32 boostPumpPresToPWM( F32 targetPressure )
 {
-    F32 dutyCyclePct = BOOST_PRESSURE_TO_PWM( targetPressure );
+    F32 dutyCyclePct = BOOST_PRESSURE_TO_PWM_PCT( targetPressure );
 
     return dutyCyclePct;
 }
@@ -596,7 +604,7 @@
  *************************************************************************/
 static F32 boostPumpFlowToPWM( U32 targetFlow )
 {
-    F32 dutyCyclePct = BOOST_FLOW_TO_PWM( targetFlow );
+    F32 dutyCyclePct = BOOST_FLOW_TO_PWM_PCT( targetFlow );
 
     return dutyCyclePct;
 }
@@ -673,15 +681,25 @@
     {
         BOOST_PUMP_DATA_T pumpData;
 
+//        pumpData.p40PumpState           = (U32)boostPumpState;
+//        pumpData.p40PumpDutyCycle       = (U32)getFluidPumpPWMDutyCycle( P40_PUMP );
+//        pumpData.p40PumpFBDutyCycle     = (U32)getFluidPumpReadPWMDutyCycle( P40_PUMP );
+//        pumpData.p40PumpSpeed           = getFluidPumpRPM( P40_PUMP );
+//        pumpData.p40TargetPressure      = getTargetBoostPumpPressure();
+//        pumpData.p40TargetFlow          = getTargetBoostPumpFlowRateMLPM();
+//        pumpData.p40TargetDutyCycle     = getTargetBoostPumpDutyCyclePCT();
+//        pumpData.p40PumpDutyCyclePct    = convertDutyCycleCntToPct( P40_PUMP, (U32)getFluidPumpPWMDutyCycle( P40_PUMP ) );
+//        pumpData.p40PumpFBDutyCyclePct  = convertDutyCycleCntToPct( P40_PUMP, (U32)getFluidPumpReadPWMDutyCycle( P40_PUMP ) );
+
         pumpData.p40PumpState           = (U32)boostPumpState;
         pumpData.p40PumpDutyCycle       = (U32)getFluidPumpPWMDutyCycle( P40_PUMP );
-        pumpData.p40PumpFBDutyCycle     = (U32)getFluidPumpReadPWMDutyCycle( P40_PUMP );
-        pumpData.p40PumpSpeed           = getFluidPumpRPM( P40_PUMP );
-        pumpData.p40TargetPressure      = getTargetBoostPumpPressure();
-        pumpData.p40TargetFlow          = getTargetBoostPumpFlowRateMLPM();
-        pumpData.p40TargetDutyCycle     = getTargetBoostPumpDutyCyclePCT();
-        pumpData.p40PumpDutyCyclePct    = convertDutyCycleCntToPct( P40_PUMP, (U32)getFluidPumpPWMDutyCycle( P40_PUMP ) );
-        pumpData.p40PumpFBDutyCyclePct  = convertDutyCycleCntToPct( P40_PUMP, (U32)getFluidPumpReadPWMDutyCycle( P40_PUMP ) );
+        pumpData.p40PumpFBDutyCycle     = getPIDControllerSignals(PID_CONTROLLER_ID_BOOST_PUMP_PRES, CONTROLLER_SIGNAL_PID_DERIVATIVE_OUTPUT );
+        pumpData.p40PumpSpeed           = getPIDControllerSignals(PID_CONTROLLER_ID_BOOST_PUMP_PRES, CONTROLLER_SIGNAL_PID_MEASURED );
+        pumpData.p40TargetPressure      = getPIDControllerSignals(PID_CONTROLLER_ID_BOOST_PUMP_PRES, CONTROLLER_SIGNAL_PID_ERROR );
+        pumpData.p40TargetFlow          = getPIDControllerSignals(PID_CONTROLLER_ID_BOOST_PUMP_PRES, CONTROLLER_SIGNAL_PID_ERROR_SUM );
+        pumpData.p40TargetDutyCycle     = getPIDControllerSignals(PID_CONTROLLER_ID_BOOST_PUMP_PRES, CONTROLLER_SIGNAL_PID_PROPORTIONAL_OUTPUT );
+        pumpData.p40PumpDutyCyclePct    = getPIDControllerSignals(PID_CONTROLLER_ID_BOOST_PUMP_PRES, CONTROLLER_SIGNAL_PID_INTEGRAL_OUTPUT );
+        pumpData.p40PumpFBDutyCyclePct  = getPIDControllerSignals(PID_CONTROLLER_ID_BOOST_PUMP_PRES, CONTROLLER_SIGNAL_PID_CONTROL );
 
         broadcastData( MSG_ID_FP_BOOST_PUMP_DATA, COMM_BUFFER_OUT_CAN_FP_BROADCAST, (U08*)&pumpData, sizeof( BOOST_PUMP_DATA_T ) );
         boostPumpDataPublicationTimerCounter = 0;