Index: PIControllers.c
===================================================================
diff -u -rbbe216fe2c07c329d1ff5a3a1b609202006cf87a -rac708e9747f70210fa56e4ec96eb418d78990a33
--- PIControllers.c	(.../PIControllers.c)	(revision bbe216fe2c07c329d1ff5a3a1b609202006cf87a)
+++ PIControllers.c	(.../PIControllers.c)	(revision ac708e9747f70210fa56e4ec96eb418d78990a33)
@@ -410,7 +410,7 @@
     {
         SET_CONTROLLER( controller, controllerID );
 
-        if ( ( feedforward > controller->uMin ) && ( feedforward < controller->uMax ) )
+        if ( ( feedforward >= controller->uMin ) && ( feedforward <= controller->uMax ) )
         {
             controller->feedForward = feedforward;
         }