Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -ra3ed83ddd9e39aceb6216da6e640c0e369de2902 -r4626638b758c6673c0a8a3cc8d008bb4a898cea9
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision a3ed83ddd9e39aceb6216da6e640c0e369de2902)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 4626638b758c6673c0a8a3cc8d008bb4a898cea9)
@@ -116,10 +116,6 @@
     initializePIDController( PID_CONTROLLER_ID_RO_PUMP_FLOW, MIN_RO_FLOWRATE_MLPM, ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT,
                              ROP_FLOW_CONTROL_D_COEFFICIENT, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, MAX_P12_FLUID_PUMP_DUTY_CYCLE_PCT, FALSE, 0 );
 
-    // Initialize RO pump PI controller to target pressure
-    initializePIController( PI_CONTROLLER_ID_RO_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, ROP_PRESSURE_CONTROL_P_COEFFICIENT, ROP_PRESSURE_CONTROL_I_COEFFICIENT,
-                            MIN_FLUID_PUMP_DUTY_CYCLE_PCT, MAX_P12_FLUID_PUMP_DUTY_CYCLE_PCT, FALSE, 0 );
-
     roPumpState                                 = RO_PUMP_OFF_STATE;
     isROPumpOn                                  = FALSE;
     stopPumpRequest                             = FALSE;
@@ -222,7 +218,7 @@
         // Set pump to on
         isROPumpOn = TRUE;
         roPumpDutyCyclePctSet = roPumpPresToPWM( getTargetROPumpPressure() );
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, roPumpDutyCyclePctSet, 0.0F );
+        resetPIDController( PID_CONTROLLER_ID_RO_PUMP_PRES, roPumpDutyCyclePctSet, 0.0F );
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
@@ -281,7 +277,7 @@
     else if ( getTargetROPumpPressure() > 0.0F )
     {
         //transition to closed loop
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), 0.0F );
+        resetPIDController( PID_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), 0.0F );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
     else if ( (F32)getTargetROPumpDutyCyclePCT() == 0.0F )
@@ -310,7 +306,7 @@
     if ( getTargetROPumpPressure() > 0.0F )
     {
         // Transition to target pressure
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), 0 );
+        resetPIDController( PID_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), 0 );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
     else if ( getTargetROPumpDutyCyclePCT() > 0.0F )
@@ -331,28 +327,12 @@
         currentFlowRate = getFilteredFlow( P16_FLOW );
         minRequiredFlowRate = (F32)getTargetROPumpFlowRateMLPM() * ROP_MIN_FLOW_TO_CONTROL_PCT;
 
-        // P16 flow seems to lag in current Leahi HW. We will wait till we hit a % of target flow before we start changing control.
-/*        if( ( TRUE == roPumpStartControl ) || ( currentFlowRate >= ( minRequiredFlowRate ) ) )
-        {
-            roPumpDutyCyclePctSet = runPIDController( PID_CONTROLLER_ID_RO_PUMP_FLOW, (F32)getTargetROPumpFlowRateMLPM(), currentFlowRate );
-            roPumpDutyCyclePctSet = MIN( roPumpDutyCyclePctSet, ( MAX_P12_FLUID_PUMP_PWM_DUTY_CYCLE * MAX_P12_FLUID_PUMP_DUTY_CYCLE_PCT ) );
-            setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
-
-            if ( FALSE == roPumpStartControl )
-            {
-                roPumpStartControl = TRUE;
-            }
-        }*/
+        // P16 flow seems to lag in current Leahi HW. We will wait before we start changing control.
         if ( TRUE == didTimeout( p12LagTimer, RO_LAG_TIMER ) )
         {
             roPumpDutyCyclePctSet = runPIDController( PID_CONTROLLER_ID_RO_PUMP_FLOW, (F32)getTargetROPumpFlowRateMLPM(), currentFlowRate );
             roPumpDutyCyclePctSet = MIN( roPumpDutyCyclePctSet, ( MAX_P12_FLUID_PUMP_PWM_DUTY_CYCLE * MAX_P12_FLUID_PUMP_DUTY_CYCLE_PCT ) );
             setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
-
-//            if ( FALSE == roPumpStartControl )
-//            {
-//               roPumpStartControl = TRUE;
-//            }
         }
         roControlTimerCounter = 0;
     }
@@ -391,7 +371,7 @@
     }
     else if ( ++roControlTimerCounter >= ROP_CONTROL_INTERVAL )
     {
-        roPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), getFilteredPressure( P17_PRES ) );
+        roPumpDutyCyclePctSet = runPIDController( PID_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), getFilteredPressure( P17_PRES ) );
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
         roControlTimerCounter = 0;
     }
@@ -738,7 +718,7 @@
     if( targetROPumpPressure.data > 0.0F )
     {
         targetROPumpPressure.data = 0.0F;
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, 0.0F );
+        resetPIDController( PID_CONTROLLER_ID_RO_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, 0.0F );
     }
 
     roPumpState = RO_PUMP_OFF_STATE;