Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -rb5e25e2bf3b87f12f9d1beedf460b5884c8816e9 -rab6ac1bb140201e5737d594b3456038ea9e4725f
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision b5e25e2bf3b87f12f9d1beedf460b5884c8816e9)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision ab6ac1bb140201e5737d594b3456038ea9e4725f)
@@ -40,13 +40,7 @@
 
 #define DRAIN_PUMP_DATA_PUB_INTERVAL           ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the RO Pump data is published on the CAN bus
 
-#define MAX_DRAIN_PUMP_PWM_STEP_CHANGE         0.01                ///< max duty cycle change for controller
-#define MAX_DRAIN_PUMP_PWM_DUTY_CYCLE          0.99                ///< max duty cycle
-#define MIN_DRAIN_PUMP_PWM_DUTY_CYCLE          0.05                ///< min duty cycle
-
 #define DRP_CONTROL_INTERVAL                   ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )   ///< interval (ms/task time) at which the Drain pump is controlled
-#define DRP_P_COEFFICIENT                      0.005               ///< P term for Drain pump control
-#define DRP_I_COEFFICIENT                      0.00015             ///< I term for Drain pump control
 
 #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
@@ -113,11 +107,6 @@
 void initDrainPump( void )
 {
     stopDrainPump();
-
-    // initialize Drain pump PI controller
-    initializePIController( PI_CONTROLLER_ID_DRAIN_PUMP, MIN_DRAIN_PUMP_PWM_DUTY_CYCLE,
-                            DRP_P_COEFFICIENT, DRP_I_COEFFICIENT,
-                            MIN_DRAIN_PUMP_PWM_DUTY_CYCLE, MAX_DRAIN_PUMP_PWM_DUTY_CYCLE );
 }
 
 /*********************************************************************//**
@@ -160,7 +149,6 @@
     stopDrainPump();
     drainPumpState = DRAIN_PUMP_OFF_STATE;
     drainControlTimerCounter = 0;
-    resetPIController( PI_CONTROLLER_ID_DRAIN_PUMP, MIN_DRAIN_PUMP_PWM_DUTY_CYCLE );
 }
 
 /*********************************************************************//**
@@ -201,6 +189,7 @@
 
         default:
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, 0, drainPumpState )  // TODO - replace 1st param with s/w fault enum
+            drainPumpState = DRAIN_PUMP_OFF_STATE;
             break;
     }
 }
@@ -218,23 +207,25 @@
 {
     DRAIN_PUMP_STATE_T result = DRAIN_PUMP_OFF_STATE;
 
+#ifdef DEBUG_ENABLED
     // TODO - test code - remove later
     if ( GET_DIP_SW2_TEST() )
     {
         setFPGAValveStates( 0x014F ); // TODO - test code - remove later
         setDrainPumpTargetSpeed( 1000 );
     }
+#endif
 
     // if we've been given a pressure, transition to control to target state
     if ( getTargetDrainPumpSpeed() > 0 )
     {
         // set drain pump enable pin
         SET_DRAIN_PUMP_ENABLE();
+        // set drain pump control mode
+        drainPumpControlModeSet = drainPumpControlMode;
         // set drain pump DAC
         drainPumpDACSet = drainPumpDAC;
         setFPGADrainPumpSpeed( drainPumpDACSet );
-        // reset controller
-        resetPIController( PI_CONTROLLER_ID_DRAIN_PUMP, MIN_DRAIN_PUMP_PWM_DUTY_CYCLE );
         // set pump to on
         isDrainPumpOn = TRUE;
         result = DRAIN_PUMP_CONTROL_TO_TARGET_STATE;
@@ -266,13 +257,21 @@
         drainControlTimerCounter = 0;
     }
 
+    if ( 0 == getTargetDrainPumpSpeed() )
+    {
+        signalDrainPumpHardStop();
+        result = DRAIN_PUMP_OFF_STATE;
+    }
+
+#ifdef DEBUG_ENABLED
     // TODO - test code - remove later
     if ( !GET_DIP_SW2_TEST() )
     {
         signalDrainPumpHardStop();
         setFPGAValveStates( 0x015F ); // TODO - test code - remove later
         result = DRAIN_PUMP_OFF_STATE;
     }
+#endif
 
     return result;
 }
@@ -434,15 +433,15 @@
 
 /*********************************************************************//**
  * @brief
- * The testSetTargetDrainPumpPressureOverride function overrides the target \n
+ * The testSetTargetDrainPumpSpeedOverride function overrides the target \n
  * drain pump speed (in RPM).
  * @details
  * Inputs : none
  * Outputs : targetDrainPumpSpeed
  * @param value : override target drain pump speed (in RPM)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
-BOOL testSetTargetDrainPumpPressureOverride( U32 value )
+BOOL testSetTargetDrainPumpSpeedOverride( U32 value )
 {
     BOOL result = FALSE;
 
@@ -459,14 +458,14 @@
 
 /*********************************************************************//**
  * @brief
- * The testResetTargetDrainPumpPressureOverride function resets the override of the \n
+ * The testResetTargetDrainPumpSpeedOverride function resets the override of the \n
  * target drain pump speed (in RPM).
  * @details
  * Inputs : none
  * Outputs : targetDrainPumpSpeed
  * @return TRUE if override reset successful, FALSE if not
  *************************************************************************/
-BOOL testResetTargetDrainPumpPressureOverride( void )
+BOOL testResetTargetDrainPumpSpeedOverride( void )
 {
     BOOL result = FALSE;