Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -ra7bf3ca23ea37a61000379facae628a31b3ecc59 -r7a1867c42c016fe547154fa278df0b04d1e6f241
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision a7bf3ca23ea37a61000379facae628a31b3ecc59)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 7a1867c42c016fe547154fa278df0b04d1e6f241)
@@ -29,8 +29,7 @@
 
 // ********** private definitions **********
 
-/// minimum integral coefficient - cannot be zero.
-#define MIN_KI                      NEARLY_ZERO
+#define MIN_KI                      NEARLY_ZERO     ///< minimum integral coefficient - cannot be zero.
 
 /// record for PI controller.
 typedef struct {
@@ -99,7 +98,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
@@ -129,7 +128,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
@@ -175,7 +174,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return result;
@@ -234,13 +233,13 @@
                 break;
 
             default:
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_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_SIGNAL, (U32)signalID )
                 break;
         } // end of switch
     }
     else
     {   // invalid controller given
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return output;