Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r19934ca6e36e2dcabd6a6083a9a1f15b1ed32189 -r7104ce1a12799c5a3dff10c94cb191d409bc8244
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 19934ca6e36e2dcabd6a6083a9a1f15b1ed32189)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 7104ce1a12799c5a3dff10c94cb191d409bc8244)
@@ -130,6 +130,18 @@
 static F32 roPumpOpenLoopTargetDutyCycle;                                                          ///< Target RO pump open loop PWM.
 static F32 roVolumeL;                                                                              ///< RO water generated in liters.
 
+
+static DG_OP_MODE_T lastDGOperationMode;
+static DG_OP_MODE_T currentDGOperationMode;
+
+static PI_CONTROLLER_PROFILE_DATA_T roFlushPIProfile = { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE };
+static PI_CONTROLLER_PROFILE_DATA_T roFillPIProfile = { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE };
+static PI_CONTROLLER_PROFILE_DATA_T roDrainPIProfile = { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE };
+static PI_CONTROLLER_PROFILE_DATA_T roHeatPIProfile = { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE };
+static PI_CONTROLLER_PROFILE_DATA_T roGenIdlePIProfile = { ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT, MIN_RO_PUMP_DUTY_CYCLE, MAX_RO_PUMP_DUTY_CYCLE };
+
+
+
 // ********** private function prototypes **********
 
 static RO_PUMP_STATE_T handleROPumpOffState( void );
@@ -404,6 +416,7 @@
  *************************************************************************/
 void execROPumpController( void )
 {
+    currentDGOperationMode = getCurrentOperationMode();
     // Handle pending delayed RO pump command
     if ( pendingROPumpCmdCountDown > 0 )
     {
@@ -451,6 +464,7 @@
             roPumpState = RO_PUMP_OFF_STATE;
             break;
     }
+    lastDGOperationMode = currentDGOperationMode;
 }
 
 /*********************************************************************//**
@@ -647,6 +661,30 @@
         }
         else
         {
+            if(currentDGOperationMode != lastDGOperationMode)
+            {
+                switch( currentDGOperationMode )
+                {
+                    case DG_MODE_GENE:
+                        setPIControlerProfile( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, roGenIdlePIProfile);
+                        break;
+                    case DG_MODE_FILL:
+                        setPIControlerProfile( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, roFillPIProfile);
+                        break;
+                    case DG_MODE_DRAI:
+                        setPIControlerProfile( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, roDrainPIProfile);
+                        break;
+                    case DG_MODE_FLUS:
+                        setPIControlerProfile( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, roFlushPIProfile);
+                        break;
+                    case DG_MODE_HEAT:
+                        setPIControlerProfile( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, roHeatPIProfile);
+                        break;
+                    default:
+                        // Alarm? Fault? continue running?
+                        break;
+                }
+            }
             roPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, getTargetROPumpFlowRateLPM(), getMeasuredFlowRateLPM( RO_FLOW_SENSOR ) );
         }
 
Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -ra9315539f527b92523b1598ff91e47db4d71dae2 -r7104ce1a12799c5a3dff10c94cb191d409bc8244
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision a9315539f527b92523b1598ff91e47db4d71dae2)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 7104ce1a12799c5a3dff10c94cb191d409bc8244)
@@ -282,4 +282,15 @@
     return output;
 }
 
+
+/*
+ * reset needs to be called.
+ */
+
+void setPIControlerProfile( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal, PI_CONTROLLER_PROFILE_DATA_T profile)
+{
+    initializePIController(controllerID, initialControlSignal,
+                           profile.Kp,profile.Ki,profile.uMin,profile.uMax);
+}
+
 /**@}*/
Index: firmware/App/Services/PIControllers.h
===================================================================
diff -u -ra9315539f527b92523b1598ff91e47db4d71dae2 -r7104ce1a12799c5a3dff10c94cb191d409bc8244
--- firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision a9315539f527b92523b1598ff91e47db4d71dae2)
+++ firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 7104ce1a12799c5a3dff10c94cb191d409bc8244)
@@ -53,14 +53,25 @@
     NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
 } PI_CONTROLLER_SIGNALS_ID;
 
+typedef struct ControllerProfile
+{
+    F32 Kp;                                 ///< Proportional Value.
+    F32 Ki;                                 ///< Integral Value.
+    F32 uMin;                               ///< Minimum control signal.
+    F32 uMax;                               ///< Maximum control signal.
+} 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 setPIControlerProfile( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal, PI_CONTROLLER_PROFILE_DATA_T profile);
 
+
 /**@}*/
 
 #endif