Index: PIControllers.c
===================================================================
diff -u -r5b4db16e34780cbbe85fbc3b994acbe0e68108e8 -r5c9c26f8adc94adf7fd3825f4a0f20414be3cfd1
--- PIControllers.c	(.../PIControllers.c)	(revision 5b4db16e34780cbbe85fbc3b994acbe0e68108e8)
+++ PIControllers.c	(.../PIControllers.c)	(revision 5c9c26f8adc94adf7fd3825f4a0f20414be3cfd1)
@@ -71,7 +71,7 @@
     { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0,  CONTROLLER_BIDIRECTIONAL, FALSE, 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, FALSE, 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, TRUE, 0.0 },     // PI_CONTROLLER_ID_D5_HEAT
-    { 0.0, 0.0, 50.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 },   // PI_CONTROLLER_ID_D5_HEAT_OUTER_LOOP
+    { 0.0, 0.0, 55.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 },   // PI_CONTROLLER_ID_D5_HEAT_OUTER_LOOP
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0,  CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 },    // PI_CONTROLLER_ID_D45_HEAT
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0,  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
@@ -361,7 +361,7 @@
     {
         SET_CONTROLLER( controller, controllerID );
 
-        if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < MAX_ILIMIT ) )
+        if ( ( stepLimit > controller->uMin ) && ( stepLimit < controller->uMax ) )
         {
             controller->maxErrorSumStep = stepLimit;
         }
@@ -371,7 +371,6 @@
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
 #endif
         }
-
     }
     else
     {
@@ -402,7 +401,7 @@
     {
         SET_CONTROLLER( controller, controllerID );
 
-        if ( ( feedforward > NEARLY_ZERO ) && ( feedforward < MAX_ILIMIT ) )
+        if ( ( feedforward > controller->uMin ) && ( feedforward < controller->uMax ) )
         {
             controller->feedForward = feedforward;
         }
@@ -412,7 +411,6 @@
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_FEED_FORWARD_LIMIT, (U32)feedforward )
 #endif
         }
-
     }
     else
     {