Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r60df6fda52be699d377d3d5ec62cfb337f920706 -r7957cce4e8b23b7d15b9623ff7c6d20432eab4e1
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 60df6fda52be699d377d3d5ec62cfb337f920706)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 7957cce4e8b23b7d15b9623ff7c6d20432eab4e1)
@@ -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              0.1F                                                                ///< P term for RO pump flow control.
-#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.8F                                                                ///< 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.
@@ -97,8 +97,8 @@
     initFluidPump();
 
     // Initialize RO pump PI controller to flow
-    initializePIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, MIN_RO_FLOWRATE_MLPM, ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT,
-                            MIN_RO_FLOWRATE_MLPM, MAX_RO_FLOWRATE_MLPM, FALSE, 0 );
+    initializePIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, ROP_FLOW_CONTROL_P_COEFFICIENT, ROP_FLOW_CONTROL_I_COEFFICIENT,
+                            MIN_FLUID_PUMP_DUTY_CYCLE_PCT, MAX_FLUID_PUMP_DUTY_CYCLE_PCT, FALSE, 0 );
 
     // Initialize RO pump PI controller to target pressure
     initializePIController( PI_CONTROLLER_ID_RO_PUMP_PRES, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, ROP_PRESSURE_CONTROL_P_COEFFICIENT, ROP_PRESSURE_CONTROL_I_COEFFICIENT,
@@ -270,7 +270,6 @@
 static RO_PUMP_STATE_T handleROPumpControlToTargetFlowState( void )
 {
     RO_PUMP_STATE_T state = RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
-    F32 nexttgtflow = 0.0;
 
     // Check if need to switch control modes
     if ( getTargetROPumpPressure() > 0.0F )
@@ -296,11 +295,10 @@
         // P16 flow seems to lag in current Leahi HW. We will wait till we hit a % of target flow before we start changing control.
         if( ( TRUE == roPumpStartControl ) || ( getFilteredFlow( P16_FLOW ) >= ( (F32)getTargetROPumpFlowRateMLPM() * ROP_MIN_FLOW_TO_CONTROL_PCT ) ) )
         {
-            //roPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, (F32)getTargetROPumpFlowRateMLPM(), getFilteredFlow( P16_FLOW ) );
-            //setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
-            nexttgtflow = runPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, (F32)getTargetROPumpFlowRateMLPM(), getFilteredFlow( P16_FLOW ) );
-            nexttgtflow = (U16)MIN( ROP_FLOW_TO_PWM( nexttgtflow ), ( MAX_FLUID_PUMP_PWM_DUTY_CYCLE * MAX_FLUID_PUMP_DUTY_CYCLE_PCT ) );
-            setFluidPumpPWMDutyCycle( P12_PUMP, nexttgtflow );
+            roPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, (F32)getTargetROPumpFlowRateMLPM(), getFilteredFlow( P16_FLOW ) );
+            roPumpDutyCyclePctSet = MIN( roPumpDutyCyclePctSet, ( MAX_FLUID_PUMP_PWM_DUTY_CYCLE * MAX_FLUID_PUMP_DUTY_CYCLE_PCT ) );
+            setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
+
             if ( FALSE == roPumpStartControl )
             {
                 roPumpStartControl = TRUE;
@@ -689,11 +687,11 @@
         pumpData.p12PumpDutyCycle       = (U32)getFluidPumpPWMDutyCycle( P12_PUMP );
         pumpData.p12PumpFBDutyCycle     = (U32)getFluidPumpReadPWMDutyCycle( P12_PUMP );
         pumpData.p12PumpSpeed           = getFluidPumpRPM( P12_PUMP );
-        pumpData.p12TargetPressure      = getTargetROPumpPressure();
-        pumpData.p12TargetFlow          = getTargetROPumpFlowRateMLPM();
-        pumpData.p12TargetDutyCycle     = getTargetROPumpDutyCyclePCT();
-        pumpData.p12PumpDutyCyclePct    = convertDutyCycleCntToPct( (U32)getFluidPumpPWMDutyCycle( P12_PUMP ) );
-        pumpData.p12PumpFBDutyCyclePct  = convertDutyCycleCntToPct( (U32)getFluidPumpReadPWMDutyCycle( 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);
 
         broadcastData( MSG_ID_FP_RO_PUMP_DATA, COMM_BUFFER_OUT_CAN_FP_BROADCAST, (U08*)&pumpData, sizeof( RO_PUMP_DATA_T ) );
         roPumpDataPublicationTimerCounter = 0;