Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r27566fb95c3865851e3b0b4bd4668474bfdbfcde -r3a5cc585b69ffa194e3601a005915d23b48bd865
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 27566fb95c3865851e3b0b4bd4668474bfdbfcde)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 3a5cc585b69ffa194e3601a005915d23b48bd865)
@@ -41,14 +41,14 @@
 #define RO_PUMP_DATA_PUB_INTERVAL                   ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )                           ///< Interval (ms/task time) at which the RO Pump data is published on the CAN bus.
 #define ROP_CONTROL_INTERVAL                        ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )                           ///< Interval (ms/task time) at which the RO pump is controlled.
 
-#define ROP_FLOW_CONTROL_P_COEFFICIENT              0.15F                                                               ///< P term for RO pump flow control.
-#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.65F                                                               ///< I term for RO pump flow control.
+#define ROP_FLOW_CONTROL_P_COEFFICIENT              0.001F                                                              ///< P term for RO pump flow control.
+#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.009F                                                              ///< I term for RO pump flow control.
 #define ROP_PRESSURE_CONTROL_P_COEFFICIENT          0.15F                                                               ///< P term for RO pump pressure control.
 #define ROP_PRESSURE_CONTROL_I_COEFFICIENT          0.65F                                                               ///< I term for RO pump pressure control.
 
-#define ROP_FLOW_TO_PWM_SLOPE                       0.357F                                                              ///< Slope of flow to PWM line equation.
+#define ROP_FLOW_TO_PWM_SLOPE                       0.5F                                                                ///< Slope of flow to PWM line equation.
 #define ROP_FLOW_TO_PWM_INTERCEPT                   0.0F                                                                ///< Intercept of flow to PWM line equation.
-#define ROP_PRESSURE_TO_PWM_SLOPE                   10.0F                                                               ///< Slope of pressure to PWM line equation.
+#define ROP_PRESSURE_TO_PWM_SLOPE                   0.5F                                                               ///< Slope of pressure to PWM line equation.
 #define ROP_PRESSURE_TO_PWM_INTERCEPT               0.0F                                                                ///< Intercept of pressure  to PWM line equation.
 
 #define DATA_PUBLISH_COUNTER_START_COUNT            10                                                                  ///< Data publish counter start count.
@@ -191,6 +191,7 @@
         // Set pump to on
         isROPumpOn = TRUE;
         roPumpDutyCyclePctSet = roPumpPresToPWM( getTargetROPumpPressure() );
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, roPumpDutyCyclePctSet, 0.0F );
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
@@ -201,6 +202,7 @@
         // Set pump to on
         isROPumpOn = TRUE;
         roPumpDutyCyclePctSet = roPumpFlowToPWM( getTargetROPumpFlowRateMLPM() );
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, 0.0F );
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
         state = RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
     }