Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -r8f95cb0d5ca434bdaf3e157e399e017d12212d3d -rd3671cad1447db7ad496ad6282324ef7570c5625
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 8f95cb0d5ca434bdaf3e157e399e017d12212d3d)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision d3671cad1447db7ad496ad6282324ef7570c5625)
@@ -52,8 +52,8 @@
 #define DRP_SPEED_ADC_TO_RPM_FACTOR            12.94                                        ///< conversion factor from ADC counts to RPM for Drain pump
 #define DRP_SPEED_RPM_TO_ADC_FACTOR            ( 1.0 / DRP_SPEED_ADC_TO_RPM_FACTOR )        ///< conversion factor from RPM to ADC counts for Drain pump
 
-#define DRAIN_PUMP_P_COEFFICIENT               0.005                                        ///< P term for drain pump delta pressure control
-#define DRAIN_PUMP_I_COEFFICIENT               0.0015                                       ///< I term for drain pump delta pressure control
+#define DRAIN_PUMP_P_COEFFICIENT               0.5                                        ///< P term for drain pump delta pressure control
+#define DRAIN_PUMP_I_COEFFICIENT               1.0                                       ///< I term for drain pump delta pressure control
 
 /// Enumeration of drain pump states.
 typedef enum DrainPump_States
@@ -288,18 +288,17 @@
     // is open loop, set the drain pump to open loop
     if ( getTargetDrainPumpSpeed() > 0 && drainPumpControlMode == PUMP_CONTROL_MODE_OPEN_LOOP )
     {
-        // set drain pump enable pin
+        // Set drain pump enable pin
         SET_DRAIN_PUMP_ENABLE();
 
-        // set drain pump DAC
+        // Set drain pump DAC
         drainPumpDACSet = drainPumpDAC;
         setFPGADrainPumpSpeed( drainPumpDACSet );
 
         result = DRAIN_PUMP_OPEN_LOOP_STATE;
     }
     // If the drain pump is set to closed loop, call the proper state
-    // It is checked for the value of delta pressure because it can be anything
-    // including 0
+    // It is checked for the value of delta pressure because it can be anything including 0
     else if ( drainPumpControlMode == PUMP_CONTROL_MODE_CLOSED_LOOP && hasClosedLoopBeenRequested )
     {
        // set drain pump enable pin
@@ -335,9 +334,9 @@
     {
         F32 inletDrainPressure = getMeasuredDGPressure ( PRESSURE_SENSOR_DRAIN_PUMP_INLET );
         F32 outletDrainPressure = getMeasuredDGPressure ( PRESSURE_SENSOR_DRAIN_PUMP_OUTLET );
-        F32 pressureDiff = inletDrainPressure - outletDrainPressure;
-        F32 rpm = runPIController( PI_CONTROLLER_ID_DRAIN_PUMP, targetDrainPumpDeltaPressure.data, pressureDiff );
-        drainPumpDACSet = (U32)(rpm * DRP_SPEED_RPM_TO_ADC_FACTOR + FLOAT_TO_INT_ROUNDUP_OFFSET);
+        F32 pressureDiff = outletDrainPressure - inletDrainPressure;
+        F32 dac = runPIController( PI_CONTROLLER_ID_DRAIN_PUMP, targetDrainPumpDeltaPressure.data, pressureDiff ); //TODO use get for delta pressure
+        drainPumpDACSet = (U32)(dac + FLOAT_TO_INT_ROUNDUP_OFFSET);
         setFPGADrainPumpSpeed( drainPumpDACSet );
 
         // From a merge from master
@@ -352,13 +351,6 @@
     }
     // From a merge from master
 
-    if ( 0 == getTargetDrainPumpSpeed() )
-    {
-        signalDrainPumpHardStop();
-
-        result = DRAIN_PUMP_OFF_STATE;
-    }
-
 #ifdef DEBUG_ENABLED
 #ifdef ENABLE_DIP_SWITCHES
     // TODO - test code - remove later
@@ -390,6 +382,12 @@
  *************************************************************************/
 static DRAIN_PUMP_STATE_T handleDrainPumpOpenLoopState( void )
 {
+    /*if ( 0 == getTargetDrainPumpSpeed() )
+    {
+        signalDrainPumpHardStop();
+
+        result = DRAIN_PUMP_OFF_STATE;
+    }*/ //TODO clean up
     return DRAIN_PUMP_OPEN_LOOP_STATE;
 }