Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r766708fceb0bdf1af8c7897df29d4f5036bfd3db -r52362c924eb6233f0a23f6978ea3ce6a2b1b9376
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 766708fceb0bdf1af8c7897df29d4f5036bfd3db)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 52362c924eb6233f0a23f6978ea3ce6a2b1b9376)
@@ -64,25 +64,23 @@
 /// PI Controllers -- initial configurations.
 static PI_CONTROLLER_T piControllers[ NUM_OF_PI_CONTROLLERS_IDS ] =
 {   // Kp   Ki  uMax  uMin  ref meas  err  esw esum ctrl  Ilimit controller type
-    { 0.0, 0.0,  1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0,  CONTROLLER_UNIDIRECTIONAL },  // PI_CONTROLLER_ID_ULTRAFILTRATION
+    { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 50.0,  CONTROLLER_UNIDIRECTIONAL },  // PI_CONTROLLER_ID_ULTRAFILTRATION
     { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_UNIDIRECTIONAL },  // PI_CONTROLLER_ID_BLOOD_FLOW
     { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_UNIDIRECTIONAL }   // PI_CONTROLLER_ID_DIALYSATE_FLOW
 };
 
-/**@}*/
-
 /*********************************************************************//**
  * @brief
  * Initialize controller before operation. Make sure to call it before
  * first call to runController function.
- *
+ * @details Inputs: piControllers
+ * @details Outputs: piControllers
  * @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
  *************************************************************************/
 void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
@@ -117,10 +115,10 @@
  * @brief
  * Reset controller before new set point. Make sure to call it before first
  * call to runController function.
- *
+ * @details Inputs: piControllers
+ * @details Outputs: piControllers
  * @param controllerID ID filter number
  * @param initialControlSignal Value of the output on the first iteration
- *
  * @return none
  *************************************************************************/
 void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal )
@@ -146,11 +144,11 @@
 /*********************************************************************//**
  * @brief
  * Call this function whenever a new measured signal sampled is acquired.
- *
+ * @details Inputs: piControllers
+ * @details Outputs: piControllers
  * @param controllerID ID filter number
  * @param referenceSignal reference signal value
  * @param measuredSignal latest measured sample
- *
  * @return value of the control signal
  *************************************************************************/
 F32 runPIController(PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal)
@@ -195,9 +193,9 @@
             controller->errorSum += controller->errorSignal;
         }
 
-        // Calculate control signal
+        // Calculate control signal from i term
         controller->errorSumBeforeWindUp = controller->errorSum;
-        controlSignalBeforeWindup = ( controller->Kp * controller->errorSignal ) + ( controller->Ki * controller->errorSum );
+        controlSignalBeforeWindup = ( controller->Ki * controller->errorSum );
         controller->controlSignal = RANGE( controlSignalBeforeWindup, controller->uMin, controller->uMax );
 
         // Handle anti-windup for i term
@@ -206,6 +204,10 @@
         {
             controller->errorSum -= ( windupError / controller->Ki );
         }
+
+        // Add p term to control signal and re-apply range limits
+        controller->controlSignal += ( controller->Kp * controller->errorSignal );
+        controller->controlSignal = RANGE( controller->controlSignal, controller->uMin, controller->uMax );
 
         result = controller->controlSignal;
     }
@@ -220,10 +222,10 @@
 /*********************************************************************//**
  * @brief
  * Returns the latest requested signal sample.
- *
+ * @details Inputs: piControllers
+ * @details Outputs: piControllers
  * @param controllerID ID filter number
  * @param signalID signal sample ID request
- *
  * @return latest sample requested
  *************************************************************************/
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID )