Index: PIControllers.c
===================================================================
diff -u -r5ce308a8e600f5fa77592950d61ec1a9e42bdaa4 -rc83bc5477fb0d2eabdbc517d08600046982fd9c5
--- PIControllers.c	(.../PIControllers.c)	(revision 5ce308a8e600f5fa77592950d61ec1a9e42bdaa4)
+++ PIControllers.c	(.../PIControllers.c)	(revision c83bc5477fb0d2eabdbc517d08600046982fd9c5)
@@ -388,45 +388,6 @@
 
 /*********************************************************************//**
  * @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 -r742ee2add33924e4b6750bc88622f09e0791feb4 -rc83bc5477fb0d2eabdbc517d08600046982fd9c5
--- PIControllers.h	(.../PIControllers.h)	(revision 742ee2add33924e4b6750bc88622f09e0791feb4)
+++ PIControllers.h	(.../PIControllers.h)	(revision c83bc5477fb0d2eabdbc517d08600046982fd9c5)
@@ -105,7 +105,6 @@
 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 );
 PI_CONTROLLER_SIGNALS_DATA getDebugPIControllerSignals( PI_CONTROLLER_ID_T controllerID );
 
Index: PIDControllers.c
===================================================================
diff -u -r68e4c6462f8345be55fa35f5b21fca3e266350aa -rc83bc5477fb0d2eabdbc517d08600046982fd9c5
--- PIDControllers.c	(.../PIDControllers.c)	(revision 68e4c6462f8345be55fa35f5b21fca3e266350aa)
+++ PIDControllers.c	(.../PIDControllers.c)	(revision c83bc5477fb0d2eabdbc517d08600046982fd9c5)
@@ -356,46 +356,5 @@
 
     return output;
 }
-/*********************************************************************//**
- * @brief
- * The getPIDControllerSignals function returns the latest requested signal sample.
- * @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.
- * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller
- * stemp limit is passed.
- * @param controllerID ID filter number
- * @param stepLimit maximum step limit
- * @return latest sample requested
- *************************************************************************/
-void setPIDControllerStepLimit( PID_CONTROLLER_ID_T controllerID, F32 stepLimit )
-{
-    PID_CONTROLLER_T *controller;
 
-    if ( controllerID < NUM_OF_PID_CONTROLLERS_IDS )
-    {
-        SET_CONTROLLER( controller, controllerID );
-
-        if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < MAX_ILIMIT ) )
-        {
-            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
-    }
-}
-
 /**@}*/
Index: PIDControllers.h
===================================================================
diff -u -raa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3 -rc83bc5477fb0d2eabdbc517d08600046982fd9c5
--- PIDControllers.h	(.../PIDControllers.h)	(revision aa6bdd3bfc3bd8bc1a56670c2bdadc32c99b33c3)
+++ PIDControllers.h	(.../PIDControllers.h)	(revision c83bc5477fb0d2eabdbc517d08600046982fd9c5)
@@ -84,7 +84,6 @@
 void resetPIDController( PID_CONTROLLER_ID_T controllerID, F32 initialControlSignal, F32 feedFowardSignal );
 F32 runPIDController( PID_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIDControllerSignals( PID_CONTROLLER_ID_T controllerID, PID_CONTROLLER_SIGNALS_ID signalID );
-void setPIDControllerStepLimit( PID_CONTROLLER_ID_T controllerID, F32 stepLimit );
 
 /**@}*/