Index: PIControllers.c
===================================================================
diff -u -re06ab67e85fc862c1676ef0be20833030fdb3d08 -rb50baf1398a7e6a2ac034202d05ce84a40697cb6
--- PIControllers.c	(.../PIControllers.c)	(revision e06ab67e85fc862c1676ef0be20833030fdb3d08)
+++ PIControllers.c	(.../PIControllers.c)	(revision b50baf1398a7e6a2ac034202d05ce84a40697cb6)
@@ -76,6 +76,8 @@
 #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, FALSE, 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, FALSE, 0.0 },  // 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, FALSE, 0.0 },  // PI_CONTROLLER_ID_BOOST_PUMP_FLOW
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_BOOST_PUMP_PRES
 #endif
 };
 
@@ -127,7 +129,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 }
@@ -166,7 +168,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 }
@@ -236,7 +238,7 @@
         }
         else
         {
-            controller->controlSignal = RANGE( controlSignalBeforeWindup, controller->uMin, ( controller->uMax - controller->feedForward ) );
+            controller->controlSignal = RANGE( controlSignalBeforeWindup, ( controller->uMin - controller->feedForward ), ( controller->uMax - controller->feedForward ) );
         }
 
         // Handle anti-windup for i term
@@ -266,7 +268,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 
@@ -338,7 +340,7 @@
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
 #endif
 #ifdef _RO_
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
 #endif
                 break;
         } // End of switch
@@ -349,7 +351,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 
@@ -386,7 +388,7 @@
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
 #endif
 #ifdef _RO_
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
 #endif
         }
 
@@ -399,7 +401,7 @@
 #endif
 #ifdef _RO_
         // Invalid controller given
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 }