Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r1d235091e158221f1fa8b1579140905a13249a54 -r16a65b53941177fb79af9a262740da5f992f4776
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 1d235091e158221f1fa8b1579140905a13249a54)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 16a65b53941177fb79af9a262740da5f992f4776)
@@ -56,7 +56,7 @@
 #define ROP_I_COEFFICIENT                   0.0015              ///< I term for RO pump pressure control
 
 #define ROP_RAMP_UP_P_COEFFICIENT           0.0                 ///< P term for RO pump flow control
-#define ROP_RAMP_UP_I_COEFFICIENT           0.009               ///< I term for RO pump flow control
+#define ROP_RAMP_UP_I_COEFFICIENT           0.01               ///< I term for RO pump flow control
 #define ROP_FLOW_TARGET_TOLERANCE           0.05                ///< Tolerance in between the target flow rate and the actual flow rate in liter
 
 #define FLOW_SENSOR_ZERO_READING            0xFFFF              ///< Flow sensor reading indicates zero flow (or flow lower than can be detected by sensor)
@@ -110,18 +110,20 @@
 static OVERRIDE_F32_T targetROPumpFlowRate = { 0, 0, 0, 0 };                     ///< Target RO flow rate (in LPM_)
 static OVERRIDE_U32_T roPumpDataPublishInterval = { RO_PUMP_DATA_PUB_INTERVAL,
                                                     RO_PUMP_DATA_PUB_INTERVAL,
-                                                    0, 0 };                      ///< interval (in ms) at which to publish RO flow data to CAN bus.
+                                                    0, 0 };                      ///< Interval (in ms) at which to publish RO flow data to CAN bus.
 static OVERRIDE_F32_T measuredROFlowRateLPM = { 0.0, 0.0, 0.0, 0 };              ///< measured RO flow rate (in LPM).
 static F32 measuredROPumpPressure = 0.0;                                         ///< measured RO pressure (in PSI). // TODO remove
-static F32 tgtROPumpPressure = 0.0;
+static F32 tgtROPumpPressure = 0.0;                                              ///< Target RO control pressure (in PSI)
 
 static S32 measuredFlowReadingsSum = 0;                                          ///< Raw flow reading sums for averaging.
 static U32 flowFilterCounter = 0;                                                ///< used to schedule flow filtering.
 static U32 flowVerificationCounter = 0;                                          ///< Counter to verify the flow is in range
 
 static U32 roControlTimerCounter = 0;                                            ///< determines when to perform control on ro pump
 
-static U32 roPumpOpenLooptargetPWM = 0;
+static U32 roPumpOpenLooptargetPWM = 0;                                         ///< Target RO pump open loop PWM
+static F32 roPumpFlowRateRunningSum = 0;
+static F32 roPumpPressureRunningSum = 0;
 
 /* The variables used for POST. They are not in use yet, so they are commented out
 static RO_PUMP_SELF_TEST_STATE_T roPumpSelfTestState = RO_PUMP_SELF_TEST_STATE_START;  ///< current ro pump self test state
@@ -412,10 +414,11 @@
     if ( ++roControlTimerCounter >= ROP_CONTROL_INTERVAL )
     {
         F32 targetFlowRate = targetROPumpFlowRate.data;
-        if ( OVERRIDE_KEY == targetROPumpFlowRate.override )
+        if ( targetROPumpFlowRate.override == OVERRIDE_KEY )
         {
             targetFlowRate = targetROPumpFlowRate.ovData;
-        }
+        }
+
         F32 actualFlowRate = (F32)getMeasuredROFlowRate();
 
         if ( fabs( actualFlowRate - targetFlowRate ) > ROP_FLOW_TARGET_TOLERANCE )
@@ -437,47 +440,54 @@
 
 /*********************************************************************//**
  * @brief
- * The handleROPumpVerifyFlowState function handles the ro pump verify \n
- * flow state of the ro pump controller state machine.
+ * The handleROPumpVerifyFlowState function handles the RO pump verify \n
+ * flow state of the RO pump controller state machine.
  * @details
  * Inputs : flowVerificationCounter, roPumpPWMDutyCyclePctSet, \n
- * tgtROPumpPressure
+ * tgtROPumpPressure, roPumpFlowRateRunningSum, roPumpPressureRunningSum
  * Outputs : flowVerificationCounter, roPumpPWMDutyCyclePctSet, \n
- * tgtROPumpPressure
+ * tgtROPumpPressure, roPumpFlowRateRunningSum, roPumpPressureRunningSum
  * @return next state
  *************************************************************************/
 static RO_PUMP_STATE_T handleROPumpVerifyFlowState( void )
 {
     RO_PUMP_STATE_T result = RO_PUMP_VERIFY_FLOW_STATE;
 
-    F32 actualFlowRate = (F32)getMeasuredROFlowRate();
-    F32 targetFlowRate = targetROPumpFlowRate.data;
-    if ( OVERRIDE_KEY == targetROPumpFlowRate.override )
-    {
-        targetFlowRate = targetROPumpFlowRate.ovData;
-    }
+    // Calculate the running sum of the flow rate and RO pump outlet pressure
+    roPumpFlowRateRunningSum = roPumpFlowRateRunningSum + (F32)getMeasuredROFlowRate();
+    roPumpPressureRunningSum = roPumpPressureRunningSum + getMeasuredDGPressure( PRESSURE_SENSOR_RO_PUMP_OUTLET );
 
-    if ( fabs( actualFlowRate - targetFlowRate ) <= ROP_FLOW_TARGET_TOLERANCE )
+    // Check if the time for flow verification has elapsed
+    if ( ++flowVerificationCounter >= FLOW_VERIFICATION_COUNTER_TARGET )
     {
-        if ( ++flowVerificationCounter >= FLOW_VERIFICATION_COUNTER_TARGET )
-        {
-            // Reset the P controller for the flow rate
-            resetPIController( I_CONTROLLER_ID_RO_PUMP_RAMP_UP, MIN_RO_PUMP_PWM_DUTY_CYCLE );
-            tgtROPumpPressure = getMeasuredDGPressure( PRESSURE_SENSOR_RO_PUMP_OUTLET );
+        // Calculate the average pressure and flow rate
+        F32 avgPressure = roPumpPressureRunningSum / flowVerificationCounter;
+        F32 avgFlowRate = roPumpFlowRateRunningSum / flowVerificationCounter;
 
-            // set initial PWM duty cycle
-            roPumpPWMDutyCyclePctSet = roPumpPWMDutyCyclePct;
-            setROPumpControlSignalPWM( roPumpPWMDutyCyclePctSet );
-            // reset controller
-            resetPIController( PI_CONTROLLER_ID_RO_PUMP, roPumpPWMDutyCyclePctSet );
-            flowVerificationCounter = 0;
-            result = RO_PUMP_CONTROL_TO_TARGET_STATE;
+        F32 targetFlowRate = targetROPumpFlowRate.data;
+        if ( targetROPumpFlowRate.override == OVERRIDE_KEY )
+        {
+            targetFlowRate = targetROPumpFlowRate.ovData;
         }
-    }
-    else
-    {
+        // Calculate the flow rate deviation from the target flow rate
+        F32 flowRateDeviation = ( targetFlowRate - avgFlowRate ) / targetFlowRate;
+        // Use the flow rate deviation to adjust the average calculated pressure. This
+        // pressure is used as the target pressure
+        avgPressure = avgPressure + ( avgPressure * flowRateDeviation );
+
+        // Reset the P controller for the flow rate
+        resetPIController( I_CONTROLLER_ID_RO_PUMP_RAMP_UP, MIN_RO_PUMP_PWM_DUTY_CYCLE );
+        tgtROPumpPressure = avgPressure;
+
+        // set initial PWM duty cycle
+        roPumpPWMDutyCyclePctSet = roPumpPWMDutyCyclePct;
+        setROPumpControlSignalPWM( roPumpPWMDutyCyclePctSet );
+        // reset controller
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP, roPumpPWMDutyCyclePctSet );
         flowVerificationCounter = 0;
-        result = RO_PUMP_RAMP_UP_STATE;
+        roPumpFlowRateRunningSum = 0;
+        roPumpPressureRunningSum = 0;
+        result = RO_PUMP_CONTROL_TO_TARGET_STATE;
     }
 
     return result;
@@ -654,10 +664,9 @@
     // publish RO pump data on interval
     if ( ++roPumpDataPublicationTimerCounter >= getPublishROPumpDataInterval() )
     {
-        F32 targetPressure = measuredROPumpPressure;
         F32 measFlow = getMeasuredROFlowRate();
         F32 pumpPWMPctDutyCycle = roPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR;
-        broadcastROPumpData( targetPressure, measFlow, pumpPWMPctDutyCycle, (U32)roPumpState );
+        broadcastROPumpData( tgtROPumpPressure, measFlow, pumpPWMPctDutyCycle, (U32)roPumpState );
         roPumpDataPublicationTimerCounter = 0;
     }
 }