Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -r5c430c3ac17fc8ad836fd70b8a3b8a12af44319e -rb4f8e2229eb0a08cdce5fdd2e0a14ca25d792946
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 5c430c3ac17fc8ad836fd70b8a3b8a12af44319e)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision b4f8e2229eb0a08cdce5fdd2e0a14ca25d792946)
@@ -8,7 +8,7 @@
 * @file    DrainPump.c
 *
 * @author  (last)      Dara Navaei
-* @date    (last)      03-Nov-2022
+* @date    (last)      06-Mar-2023
 *
 * @author  (original)  Sean
 * @date    (original)  08-Apr-2020
@@ -50,7 +50,7 @@
 
 #define DRAIN_PUMP_DATA_PUB_INTERVAL           ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )                       ///< Interval (ms/task time) at which the Drain Pump data is published on the CAN bus.
 
-#define DRP_CONTROL_INTERVAL                   ( 200 / TASK_GENERAL_INTERVAL )                                  ///< Interval (ms/task time) at which the Drain pump is controlled.
+#define DRP_CONTROL_INTERVAL                   ( 1000 / TASK_GENERAL_INTERVAL )                                 ///< Interval (ms/task time) at which the Drain pump is controlled.
 #define DRP_CONTROL_MAX_ALLOWED_PPO_PSI        30.0F                                                            ///< Drain pump maximum allowed PPo pressure in psi.
 #define DRP_CONTROL_MAX_ALLOWED_PDR_PSI        40.0F                                                            ///< Drain pump maximum allowed PDr pressure in psi.
 #define DRP_CONTROL_PSI_TO_DAC_P_ONLY_TERM     0.2F                                                             ///< Drain pump psi to DAC conversion.
@@ -283,6 +283,8 @@
         drainPumpControlModeSet      = drainPumpControlMode;
         result                       = TRUE;
         isDrainPumpControlInFlowMode = TRUE;
+
+        resetPIController( PI_CONTROLLER_ID_DRAIN_PUMP, DRAIN_PUMP_MIN_DAC );
     }
     else
     {
@@ -677,10 +679,11 @@
                 isDrainPumpControlInFlowMode = FALSE;
             }
         }
-        else if ( flowSubLPM > NEARLY_ZERO )
+        else if ( flowSubLPM > 0.0F )
         {
             // If measured flow if greater than the target flow, adjust the DAC to lower the flow rate
             tempDACSet       = (U32)( ( flowSubLPM * DRP_CONTROL_FLOW_TO_DAC_P_ONLY_TERM ) + FLOAT_TO_INT_ROUNDUP_OFFSET );
+            tempDACSet       = ( tempDACSet > drainPumpDACSet ? DRAIN_PUMP_MIN_DAC : tempDACSet );
             drainPumpDACSet -= ( tempDACSet > 0.0F ? tempDACSet : DRP_CONTROL_MIN_DAC_CHANGE );
         }
         else
@@ -691,11 +694,12 @@
             F32 ppoSubPSI  = roPumpOutletPressurePSI - DRP_CONTROL_MAX_ALLOWED_PPO_PSI;
             F32 maxPresPSI = MAX( pdrSubPSI, ppoSubPSI );
 
-            if ( ( pdrSubPSI > NEARLY_ZERO ) || ( ppoSubPSI > NEARLY_ZERO ) )
+            if ( ( pdrSubPSI > 0.0F ) || ( ppoSubPSI > 0.0F ) )
             {
                 // If either of the pressure values are greater than the maximum pressure, recalculate the DAC by the maximum pressure difference
                 // If the calculated DAC value turned out to be 0, set it to 1 so it changes at least by 1 DAC
                 tempDACSet       = (U32)( ( maxPresPSI * DRP_CONTROL_PSI_TO_DAC_P_ONLY_TERM ) + FLOAT_TO_INT_ROUNDUP_OFFSET );
+                tempDACSet       = ( tempDACSet > drainPumpDACSet ? DRAIN_PUMP_MIN_DAC : tempDACSet );
                 drainPumpDACSet -= ( tempDACSet > 0.0F ? tempDACSet : DRP_CONTROL_MIN_DAC_CHANGE );
             }
             else if ( ( fabs(pdrSubPSI) > DRP_CONTROL_PRES_TO_MAX_THRESHOLD_PSI ) && ( fabs(ppoSubPSI) > DRP_CONTROL_PRES_TO_MAX_THRESHOLD_PSI ) )
@@ -940,17 +944,13 @@
 {
     BOOL status = FALSE;
 
-    // Check if the requested drain pump RPM is within range
-    if ( ( value >= MIN_DRAIN_PUMP_RPM ) && ( value <= MAX_DRAIN_PUMP_RPM ) )
+    // Check if the user is logged in
+    if ( TRUE == isTestingActivated() )
     {
-        // Check if the user is logged in
-        if ( TRUE == isTestingActivated() )
-        {
-            drainPumpMeasuredRPM.ovData     = value;
-            drainPumpMeasuredRPM.override   = OVERRIDE_KEY;
-            drainPumpMeasuredRPM.ovInitData = drainPumpMeasuredRPM.data;
-            status                          = TRUE;
-        }
+        drainPumpMeasuredRPM.ovData     = value;
+        drainPumpMeasuredRPM.override   = OVERRIDE_KEY;
+        drainPumpMeasuredRPM.ovInitData = drainPumpMeasuredRPM.data;
+        status                          = TRUE;
     }
 
     return status;