Index: PIControllers.c
===================================================================
diff -u -r5522c7962c9519b92fc35ee1aac72aedf230d4b1 -rc8d764933ccdc4a185131d77bbcc106a9223ae6b
--- PIControllers.c	(.../PIControllers.c)	(revision 5522c7962c9519b92fc35ee1aac72aedf230d4b1)
+++ PIControllers.c	(.../PIControllers.c)	(revision c8d764933ccdc4a185131d77bbcc106a9223ae6b)
@@ -154,7 +154,6 @@
         controller->controlSignal = RANGE( initialControlSignal, controller->uMin, controller->uMax );
         controller->referenceSignal = 0.0;
         controller->errorSignal = 0.0;
-	// TODO: controller->errorSum = controller->controlSignal / ( controller->Ki + controller->Kp );
         controller->errorSum = controller->controlSignal / controller->Ki;
         controller->errorSumBeforeWindUp = controller->errorSum;
         controller->measuredSignal = 0.0;
@@ -380,6 +379,10 @@
     {   // Invalid controller given
 #ifdef _DD_
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+#elif  _TD_
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+#else
+        #error "Unsupported platform"
 #endif
     }