Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -r9302e1bd2413cbf99e80ac51aac38502d94801d9
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision de5a0d43bdef611d963d11855bc958a8d8899a09)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 9302e1bd2413cbf99e80ac51aac38502d94801d9)
@@ -15,9 +15,7 @@
 *
 ***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include "math.h"
-#endif
+#include <math.h>
 
 #include "SystemCommMessages.h"
 #include "PIControllers.h"
@@ -67,12 +65,12 @@
  * Initialize controller before operation. Make sure to call it before
  * first call to runController function.
  *
- * @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.
+ * @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
  *************************************************************************/
@@ -100,7 +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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
@@ -109,8 +107,8 @@
  * Reset controller before new set point. Make sure to call it before first
  * call to runController function.
  *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
+ * @param controllerID ID filter number
+ * @param initialControlSignal Value of the output on the first iteration
  *
  * @return none
  *************************************************************************/
@@ -130,17 +128,17 @@
     }
     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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
 /*********************************************************************//**
  * @brief
  * Call this function whenever a new measured signal sampled is acquired.
  *
- * @param controllerID - ID filter number
- * @param referenceSignal - reference signal value
- * @param measuredSignal - latest measured sample
+ * @param controllerID ID filter number
+ * @param referenceSignal reference signal value
+ * @param measuredSignal latest measured sample
  *
  * @return value of the control signal
  *************************************************************************/
@@ -176,7 +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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return result;
@@ -186,8 +184,8 @@
  * @brief
  * Returns the latest requested signal sample.
  *
- * @param controllerID - ID filter number
- * @param signalID -  signal sample ID request
+ * @param controllerID ID filter number
+ * @param signalID signal sample ID request
  *
  * @return latest sample requested
  *************************************************************************/
@@ -235,13 +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_HD_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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return output;