Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r288bfd724a1bcafd1697985ec21112450ab0910b -r6a318f2db61c3567fceea2c1963e0b02d90c8aee
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 288bfd724a1bcafd1697985ec21112450ab0910b)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 6a318f2db61c3567fceea2c1963e0b02d90c8aee)
@@ -39,8 +39,8 @@
 #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              0.000095F                                                             ///< P term for RO pump flow control.
-#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.00049F                                                             ///< I term for RO pump flow control.
+#define ROP_FLOW_CONTROL_P_COEFFICIENT              0.000095F                                                           ///< P term for RO pump flow control.
+#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.00049F                                                            ///< I term for RO pump flow control.
 #define ROP_MIN_FLOW_TO_CONTROL_PCT                 0.75F
 #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.
@@ -123,9 +123,9 @@
     targetROPumpPressure.ovData                 = 0.0F;
     targetROPumpPressure.ovInitData             = 0.0F;
     targetROPumpPressure.override               = OVERRIDE_RESET;
-    roPumpOpenLoopTargetDutyCycle.data          = 0;
-    roPumpOpenLoopTargetDutyCycle.ovData        = 0;
-    roPumpOpenLoopTargetDutyCycle.ovInitData    = 0;
+    roPumpOpenLoopTargetDutyCycle.data          = 0.0;
+    roPumpOpenLoopTargetDutyCycle.ovData        = 0.0;
+    roPumpOpenLoopTargetDutyCycle.ovInitData    = 0.0;
     roPumpOpenLoopTargetDutyCycle.override      = OVERRIDE_RESET;
 
     stopROPump();
@@ -688,11 +688,11 @@
         pumpData.p12PumpDutyCycle       = (U32)getFluidPumpPWMDutyCycle( P12_PUMP );
         pumpData.p12PumpFBDutyCycle     = (U32)getFluidPumpReadPWMDutyCycle( P12_PUMP );
         pumpData.p12PumpSpeed           = getFluidPumpRPM( P12_PUMP );
-        pumpData.p12TargetPressure      = getPIControllerSignals(PI_CONTROLLER_ID_RO_PUMP_FLOW,CONTROLLER_SIGNAL_CONTROL);
-        pumpData.p12TargetFlow          = getPIControllerSignals(PI_CONTROLLER_ID_RO_PUMP_FLOW, CONTROLLER_SIGNAL_ERROR);
-        pumpData.p12TargetDutyCycle     = getPIControllerSignals(PI_CONTROLLER_ID_RO_PUMP_FLOW, CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT);
-        pumpData.p12PumpDutyCyclePct    = getPIControllerSignals(PI_CONTROLLER_ID_RO_PUMP_FLOW, CONTROLLER_SIGNAL_INTEGRAL_OUTPUT);
-        pumpData.p12PumpFBDutyCyclePct  = getPIControllerSignals(PI_CONTROLLER_ID_RO_PUMP_FLOW, CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP);
+        pumpData.p12TargetPressure      = getTargetROPumpPressure();
+        pumpData.p12TargetFlow          = getTargetROPumpFlowRateMLPM();
+        pumpData.p12TargetDutyCycle     = getTargetROPumpDutyCyclePCT();
+        pumpData.p12PumpDutyCyclePct    = convertDutyCycleCntToPct( (U32)getFluidPumpPWMDutyCycle( P12_PUMP ) );
+        pumpData.p12PumpFBDutyCyclePct  = convertDutyCycleCntToPct( (U32)getFluidPumpReadPWMDutyCycle( P12_PUMP ) );
 
         broadcastData( MSG_ID_FP_RO_PUMP_DATA, COMM_BUFFER_OUT_CAN_FP_BROADCAST, (U08*)&pumpData, sizeof( RO_PUMP_DATA_T ) );
         roPumpDataPublicationTimerCounter = 0;