Index: firmware/App/Services/PIControllers.h
===================================================================
diff -u -ra9315539f527b92523b1598ff91e47db4d71dae2 -ra265ac3cc10384a1119240d21f57833c9cb33c5b
--- firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision a9315539f527b92523b1598ff91e47db4d71dae2)
+++ firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision a265ac3cc10384a1119240d21f57833c9cb33c5b)
@@ -53,13 +53,25 @@
     NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
 } PI_CONTROLLER_SIGNALS_ID;
 
+/// Data structure for PI control profiles.
+typedef struct ControllerProfile
+{
+    F32 Kp;                                 ///< Proportional Value
+    F32 Ki;                                 ///< Integral Value
+    F32 uMin;                               ///< Minimum control signal
+    F32 uMax;                               ///< Maximum control signal
+    F32 maxErrorSumStep;                    ///< Maximum change in I (error sum) for a single control interval.
+    U32 controlInterval;                    ///< Control interval value
+} PI_CONTROLLER_PROFILE_DATA_T;
+
 // ********** public function prototypes **********
 
 void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
                              F32 kP, F32 kI, F32 controlMin, F32 controlMax );
 void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal );
 F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );
+void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit );
 
 /**@}*/