Index: PIControllers.c
===================================================================
diff -u -r8306f93dda4cd495f2738212398f2c5076935165 -r3488c16a0dc63838a344660f17f9e1f0f128c6bd
--- PIControllers.c	(.../PIControllers.c)	(revision 8306f93dda4cd495f2738212398f2c5076935165)
+++ PIControllers.c	(.../PIControllers.c)	(revision 3488c16a0dc63838a344660f17f9e1f0f128c6bd)
@@ -233,7 +233,7 @@
         }
         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