Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r3ed56772e4ca7f562dd3647ee56396d63ea0a077 -rdfc26c678cd9f0e2a2dda1d16a8d6b5f6660d689
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 3ed56772e4ca7f562dd3647ee56396d63ea0a077)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision dfc26c678cd9f0e2a2dda1d16a8d6b5f6660d689)
@@ -27,6 +27,8 @@
 
 // ********** private definitions **********
 
+#define MAX_ILIMIT              1.0F       ///< Controller max Ilimit/maxErrorSumStep.
+
 /// Enumeration of PI controller direction.
 typedef enum controller_Directions
 {
@@ -285,27 +287,26 @@
  * @brief
  * The getPIControllerSignals function returns the latest requested signal sample.
  * @details Inputs: none
- * @details Outputs: none
+ * @details Outputs: maxErrorSumStep of controller ID
  * @param controllerID ID filter number
- * @param signalID signal sample ID request
+ * @param stepLimit maximum step limit
  * @return latest sample requested
  *************************************************************************/
 void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit )
 {
     PI_CONTROLLER_T *controller;
-    F32 maxStepLimit = 1.0;
 
     if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
     {
         SET_CONTROLLER( controller, controllerID );
 
-        if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < maxStepLimit ) )
+        if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < MAX_ILIMIT ) )
         {
             controller->maxErrorSumStep = stepLimit;
         }
         else
         {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
         }
 
     }