Index: PIControllers.c
===================================================================
diff -u -r5c9c26f8adc94adf7fd3825f4a0f20414be3cfd1 -r4f713442a4385395c566c6ca9b161c95e406c1f1
--- PIControllers.c	(.../PIControllers.c)	(revision 5c9c26f8adc94adf7fd3825f4a0f20414be3cfd1)
+++ PIControllers.c	(.../PIControllers.c)	(revision 4f713442a4385395c566c6ca9b161c95e406c1f1)
@@ -344,45 +344,6 @@
 
 /*********************************************************************//**
  * @brief
- * The setPIControllerStepLimit function sets the step limit value.
- * @details \b Inputs: none
- * @details \b Outputs: maxErrorSumStep of controller ID
- * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller
- * Id is passed.
- * @param controllerID ID filter number
- * @param stepLimit maximum step limit
- * @return none
- *************************************************************************/
-void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit )
-{
-    PI_CONTROLLER_T *controller;
-
-    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
-    {
-        SET_CONTROLLER( controller, controllerID );
-
-        if ( ( stepLimit > controller->uMin ) && ( stepLimit < controller->uMax ) )
-        {
-            controller->maxErrorSumStep = stepLimit;
-        }
-        else
-        {
-#ifdef _DD_
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
-#endif
-        }
-    }
-    else
-    {
-#ifdef _DD_
-        // Invalid controller given
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
-#endif
-    }
-}
-
-/*********************************************************************//**
- * @brief
  * The setPIControllerFeedForward function sets the latest feed forward value
  * to the corresponding PI controller.
  * @details \b Inputs: none
Index: PIControllers.h
===================================================================
diff -u -r5b4db16e34780cbbe85fbc3b994acbe0e68108e8 -r4f713442a4385395c566c6ca9b161c95e406c1f1
--- PIControllers.h	(.../PIControllers.h)	(revision 5b4db16e34780cbbe85fbc3b994acbe0e68108e8)
+++ PIControllers.h	(.../PIControllers.h)	(revision 4f713442a4385395c566c6ca9b161c95e406c1f1)
@@ -89,7 +89,6 @@
 void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal, F32 feedFowardSignal );
 F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );
-void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit );
 void setPIControllerFeedForward( PI_CONTROLLER_ID_T controllerID, F32 feedforward );
 
 /**@}*/