Index: firmware/App/Controllers/Pressures.c
===================================================================
diff -u -rbbf1e3736be03a4f041ace57e0f95e23caf472dd -r0831cb6bf766fe461340b711f2ff14c3d797e10d
--- firmware/App/Controllers/Pressures.c	(.../Pressures.c)	(revision bbf1e3736be03a4f041ace57e0f95e23caf472dd)
+++ firmware/App/Controllers/Pressures.c	(.../Pressures.c)	(revision 0831cb6bf766fe461340b711f2ff14c3d797e10d)
@@ -38,6 +38,9 @@
 #define PUMP_PRESSURE_PSIA_PER_COUNT        0.06434      ///< PSIA per ADC count conversion factor for pump in/out pressure sensors.
 #define PUMP_PRESSURE_PSIA_TO_PSI_OFFSET    14.7         ///< Subtract this offset to convert PSIA to PSI.
 
+#define PRESSURE_SAMPLES_TO_AVERAGE         (200 / TASK_PRIORITY_INTERVAL)              ///< Averaging pressure data over the reporting interval.
+#define PRESSURE_AVERAGE_MULTIPLIER         (1.0 / (F32)PRESSURE_SAMPLES_TO_AVERAGE)    ///< Optimization - multiplying is faster than dividing.
+
 /// Defined states for the pressures monitor state machine.
 typedef enum PresOccl_States
 {
@@ -63,6 +66,10 @@
 static OVERRIDE_U32_T pressuresDataPublishInterval = { PRESSURES_DATA_PUB_INTERVAL, PRESSURES_DATA_PUB_INTERVAL, 0, 0 }; ///< interval (in ms/task interval) at which to publish pressures data to CAN bus.
 static OVERRIDE_F32_T pressures[ NUM_OF_PRESSURE_SENSORS ];                     ///< Measured pressure from sensors.
 
+static S32 measuredPressureReadingsRaw[ NUM_OF_PRESSURE_SENSORS ];              ///< Latest measured raw pressure sensor readings.
+static S32 measuredPressureReadingsSum[ NUM_OF_PRESSURE_SENSORS ];              ///< Raw pressure sensor sums for averaging.
+static U32 pressureFilterCounter = 0;                                           ///< used to schedule pressure sensor filtering.
+
 static PRESSURE_SELF_TEST_STATE_T pressuresSelfTestState = PRESSURE_SELF_TEST_STATE_START;  ///< current pressure self test state.
 static U32 pressuresSelfTestTimerCount = 0;                                     ///< timer counter for pressure self test.
 
@@ -84,6 +91,19 @@
  *************************************************************************/
 void initPressures( void )
 {
+    U32 i;
+
+    for ( i = 0; i < NUM_OF_PRESSURE_SENSORS; i++ )
+    {
+        pressures[ i ].data = 0.0;
+        pressures[ i ].ovData = 0.0;
+        pressures[ i ].ovInitData = 0.0;
+        pressures[ i ].override = OVERRIDE_RESET;
+
+        measuredPressureReadingsSum[ i ] = 0;
+        measuredPressureReadingsRaw[ i ] = 0;
+    }
+
     pressuresState = PRESSURE_INIT_STATE;
     pressuresSelfTestState = PRESSURE_SELF_TEST_STATE_START;
     pressuresDataPublicationTimerCounter = 0;
@@ -150,19 +170,41 @@
 {
     PRESSURE_STATE_T result = PRESSURE_CONTINUOUS_READ_STATE;
 
-    S32 roIn = (S32)getIntADCReading( INT_ADC_RO_PUMP_INLET_PRESSURE );
-    S32 roOut = (S32)getIntADCReading( INT_ADC_RO_PUMP_OUTLET_PRESSURE );
-    S32 drainIn = (S32)getIntADCReading( INT_ADC_DRAIN_PUMP_OUTLET_PRESSURE );
-    S32 drainOut = (S32)getIntADCReading( INT_ADC_DRAIN_PUMP_INLET_PRESSURE );
+    // get latest raw pressure readings
+    measuredPressureReadingsRaw[ INT_ADC_RO_PUMP_INLET_PRESSURE ] = (S32)getIntADCReading( INT_ADC_RO_PUMP_INLET_PRESSURE ) - PUMP_PRESSURE_ZERO;
+    measuredPressureReadingsRaw[ INT_ADC_RO_PUMP_OUTLET_PRESSURE ] = (S32)getIntADCReading( INT_ADC_RO_PUMP_OUTLET_PRESSURE ) - PUMP_PRESSURE_ZERO;
+    measuredPressureReadingsRaw[ INT_ADC_DRAIN_PUMP_INLET_PRESSURE ] = (S32)getIntADCReading( INT_ADC_DRAIN_PUMP_INLET_PRESSURE ) - PUMP_PRESSURE_ZERO;
+    measuredPressureReadingsRaw[ INT_ADC_DRAIN_PUMP_OUTLET_PRESSURE ] = (S32)getIntADCReading( INT_ADC_DRAIN_PUMP_OUTLET_PRESSURE ) - PUMP_PRESSURE_ZERO;
+    // update sums for pressure average calculations
+    measuredPressureReadingsSum[ INT_ADC_RO_PUMP_INLET_PRESSURE ] += measuredPressureReadingsRaw[ INT_ADC_RO_PUMP_INLET_PRESSURE ];
+    measuredPressureReadingsSum[ INT_ADC_RO_PUMP_OUTLET_PRESSURE ] += measuredPressureReadingsRaw[ INT_ADC_RO_PUMP_OUTLET_PRESSURE ];
+    measuredPressureReadingsSum[ INT_ADC_DRAIN_PUMP_INLET_PRESSURE ] += measuredPressureReadingsRaw[ INT_ADC_DRAIN_PUMP_INLET_PRESSURE ];
+    measuredPressureReadingsSum[ INT_ADC_DRAIN_PUMP_OUTLET_PRESSURE ] += measuredPressureReadingsRaw[ INT_ADC_DRAIN_PUMP_OUTLET_PRESSURE ];
 
-    // convert ADC counts to PSI for each sensor
-    pressures[ PRESSURE_SENSOR_RO_PUMP_INLET ].data = (F32)( roIn - PUMP_PRESSURE_ZERO ) * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
-    pressures[ PRESSURE_SENSOR_RO_PUMP_OUTLET ].data = (F32)( roOut - PUMP_PRESSURE_ZERO ) * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
-    pressures[ PRESSURE_SENSOR_DRAIN_PUMP_INLET ].data = (F32)( drainIn - PUMP_PRESSURE_ZERO ) * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
-    pressures[ PRESSURE_SENSOR_DRAIN_PUMP_OUTLET ].data = (F32)( drainOut - PUMP_PRESSURE_ZERO ) * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
+    // filter every 200ms
+    if ( ++pressureFilterCounter >= PRESSURE_SAMPLES_TO_AVERAGE )
+    {   // calculate average pressures
+        F32 avgRoIn = (F32)measuredPressureReadingsSum[ INT_ADC_RO_PUMP_INLET_PRESSURE ] * PRESSURE_AVERAGE_MULTIPLIER;
+        F32 avgRoOut = (F32)measuredPressureReadingsSum[ INT_ADC_RO_PUMP_OUTLET_PRESSURE ] * PRESSURE_AVERAGE_MULTIPLIER;
+        F32 avgDrnIn = (F32)measuredPressureReadingsSum[ INT_ADC_DRAIN_PUMP_INLET_PRESSURE ] * PRESSURE_AVERAGE_MULTIPLIER;
+        F32 avgDrnOut = (F32)measuredPressureReadingsSum[ INT_ADC_DRAIN_PUMP_OUTLET_PRESSURE ] * PRESSURE_AVERAGE_MULTIPLIER;
 
-    // TODO - any filtering required???
+        // reset average counter
+        pressureFilterCounter = 0;
 
+        // convert average pressure readings to PSI
+        pressures[ PRESSURE_SENSOR_RO_PUMP_INLET ].data = avgRoIn * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
+        pressures[ PRESSURE_SENSOR_RO_PUMP_OUTLET ].data = avgRoOut * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
+        pressures[ PRESSURE_SENSOR_DRAIN_PUMP_INLET ].data = avgDrnIn * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
+        pressures[ PRESSURE_SENSOR_DRAIN_PUMP_OUTLET ].data = avgDrnOut * PUMP_PRESSURE_PSIA_PER_COUNT - PUMP_PRESSURE_PSIA_TO_PSI_OFFSET;
+
+        // reset sums for next averaging
+        measuredPressureReadingsSum[ INT_ADC_RO_PUMP_INLET_PRESSURE ] = 0;
+        measuredPressureReadingsSum[ PRESSURE_SENSOR_RO_PUMP_OUTLET ] = 0;
+        measuredPressureReadingsSum[ PRESSURE_SENSOR_DRAIN_PUMP_INLET ] = 0;
+        measuredPressureReadingsSum[ PRESSURE_SENSOR_DRAIN_PUMP_OUTLET ] = 0;
+    }
+
     // check for pressure ranges
     checkPressures();