Index: PIControllers.c
===================================================================
diff -u -r7498abad801e9eabdbcd016f11bc239e8f07e7cd -r6d6aeca98fc8593725cba4bb1c7a6d065f6f6e26
--- PIControllers.c	(.../PIControllers.c)	(revision 7498abad801e9eabdbcd016f11bc239e8f07e7cd)
+++ PIControllers.c	(.../PIControllers.c)	(revision 6d6aeca98fc8593725cba4bb1c7a6d065f6f6e26)
@@ -57,23 +57,22 @@
     PI_CONTROLLER_DIRECTIONS_T direction;                               ///< PI controller control direction.
     BOOL isFeedForwardEnabled;                                          ///< Eanble or disable Feed forward term
     F32 feedForward;                                                    ///< Feed forward term
-    F32 controlInterval;                                                ///< Control interval for integral calculation( default : 1.0 sec control interval)
 } PI_CONTROLLER_T;
 
 // ********** private data **********
 
 /// 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, feedfwdEnabled, feedfwdValue, Control Interval
+{   // Kp   Ki  uMax  uMin  ref meas err  esw esum ctrl Ilimit  controller type, feedfwdEnabled, feedfwdValue
 #ifdef _DD_
-    { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  4.0,  CONTROLLER_BIDIRECTIONAL, 0, 0.0, 1.0 },   // PI_CONTROLLER_ID_D12_PUMP
-    { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  4.0,  CONTROLLER_BIDIRECTIONAL, 0, 0.0, 1.0 },   // PI_CONTROLLER_ID_D48_PUMP
-    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  15.0, CONTROLLER_BIDIRECTIONAL, 1, 0.0, 1.0 },   // PI_CONTROLLER_ID_D5_HEAT
-    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  5.0,  CONTROLLER_BIDIRECTIONAL, 0, 0.0, 1.0 },   // PI_CONTROLLER_ID_D45_HEAT
+    { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  4.0,  CONTROLLER_BIDIRECTIONAL, 0, 0.0 },   // PI_CONTROLLER_ID_D12_PUMP
+    { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  4.0,  CONTROLLER_BIDIRECTIONAL, 0, 0.0 },   // PI_CONTROLLER_ID_D48_PUMP
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  15.0, CONTROLLER_BIDIRECTIONAL, 1, 0.0 },   // PI_CONTROLLER_ID_D5_HEAT
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  5.0,  CONTROLLER_BIDIRECTIONAL, 0, 0.0 },   // PI_CONTROLLER_ID_D45_HEAT
 #endif
 #ifdef _RO_
-    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5,  CONTROLLER_UNIDIRECTIONAL,0, 0.0, 1.0 },  // PI_CONTROLLER_ID_RO_PUMP
-    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,  CONTROLLER_UNIDIRECTIONAL,0, 0.0, 1.0 },  // PI_CONTROLLER_ID_RO_PUMP_MAX_PRES
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5,  CONTROLLER_UNIDIRECTIONAL, 0, 0.0 },  // PI_CONTROLLER_ID_RO_PUMP
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,  CONTROLLER_UNIDIRECTIONAL, 0, 0.0 },  // PI_CONTROLLER_ID_RO_PUMP_MAX_PRES
 #endif
 };
 
@@ -93,13 +92,11 @@
  * @param controlMax Maximum control output
  * @param isFeedForwardEnabled Feed forward enabled if true, otherwise not.
  * @param feedFowardSignal feedforward value to be applied to the control output
- * @param controlInterval The task control interval for given heater to determine
- * sample period
  * @return none
  *************************************************************************/
 void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
                              F32 kP, F32 kI, F32 controlMin, F32 controlMax,
-                             BOOL isFeedForwardEnabled, F32 feedFowardSignal, F32 controlInterval )
+                             BOOL isFeedForwardEnabled, F32 feedFowardSignal )
 {
     if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
     {
@@ -119,7 +116,6 @@
         controller->uMin = controlMin;
         controller->uMax = controlMax;
         controller->isFeedForwardEnabled = isFeedForwardEnabled;
-        controller-> controlInterval = controlInterval;
         resetPIController( controllerID, initialControlSignal, feedFowardSignal );
     }
     else
@@ -229,7 +225,7 @@
 
         // Calculate control signal from i term
         controller->errorSumBeforeWindUp = controller->errorSum;
-        controlSignalBeforeWindup = ( controller->Ki * controller->controlInterval * controller->errorSum );
+        controlSignalBeforeWindup = ( controller->Ki * controller->errorSum );
 
         if ( FALSE == controller->isFeedForwardEnabled )
         {
@@ -244,7 +240,7 @@
         windupError = controlSignalBeforeWindup - controller->controlSignal;
         if ( fabs( windupError ) > NEARLY_ZERO )
         {
-            controller->errorSum -= ( windupError / ( controller->Ki * controller->controlInterval ) );
+            controller->errorSum -= ( windupError / controller->Ki );
         }
 
         // Add p term to control signal