Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r0dec8744af40d0c87a6d7cd1923920c1c2bd1d2f -rf308cc4c35eab630ebbbde405cfe47d049afeafb
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 0dec8744af40d0c87a6d7cd1923920c1c2bd1d2f)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision f308cc4c35eab630ebbbde405cfe47d049afeafb)
@@ -15,9 +15,7 @@
 *
 ***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include "math.h"
-#endif
+#include "math.h"
 
 #include "SystemCommMessages.h"
 #include "PIControllers.h"
@@ -54,7 +52,6 @@
 /// PI Controllers -- initial configurations.
 static PI_CONTROLLER_T piControllers[ NUM_OF_PI_CONTROLLERS_IDS ] =
 {   // Kp   Ki  uMax  uMin  ref meas  err  esw esum ctrl
-
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_RO_PUMP
     { 0.0, 0.0, 0.89, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_PRIMARY_HEATER
     { 0.0, 0.0, 0.50, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }   // PI_CONTROLLER_ID_TRIMMER_HEATER
@@ -65,12 +62,12 @@
  * Initialize controller before operation. Make sure to call it before
  * first call to runController function.
  *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
- * @param kP - Coefficient for proportional.
- * @param kI - Coefficient for integral.
- * @param controlMin - Minimum control output.
- * @param controlMax - Maximum control output.
+ * @param controllerID ID filter number
+ * @param initialControlSignal Value of the output on the first iteration
+ * @param kP Coefficient for proportional
+ * @param kI Coefficient for integral
+ * @param controlMin Minimum control output
+ * @param controlMax Maximum control output
  *
  * @return none
  *************************************************************************/
@@ -107,8 +104,8 @@
  * Reset controller before new set point. Make sure to call it before first
  * call to runController function.
  *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
+ * @param controllerID ID filter number
+ * @param initialControlSignal Value of the output on the first iteration
  *
  * @return none
  *************************************************************************/
@@ -136,9 +133,9 @@
  * @brief
  * Call this function whenever a new measured signal sampled is acquired.
  *
- * @param controllerID - ID filter number
- * @param referenceSignal - reference signal value
- * @param measuredSignal - latest measured sample
+ * @param controllerID ID filter number
+ * @param referenceSignal reference signal value
+ * @param measuredSignal latest measured sample
  *
  * @return value of the control signal
  *************************************************************************/
@@ -184,8 +181,8 @@
  * @brief
  * Returns the latest requested signal sample.
  *
- * @param controllerID - ID filter number
- * @param signalID -  signal sample ID request
+ * @param controllerID ID filter number
+ * @param signalID signal sample ID request
  *
  * @return latest sample requested
  *************************************************************************/