Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r60df6fda52be699d377d3d5ec62cfb337f920706 -rbb1b5860c4a87ee17537ae9f6ca690a4d74bc925
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 60df6fda52be699d377d3d5ec62cfb337f920706)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision bb1b5860c4a87ee17537ae9f6ca690a4d74bc925)
@@ -17,6 +17,7 @@
 #include <math.h>           // for log()
 
 #include "Flow.h"
+#include "FPOperationModes.h"
 //#include "NVDataMgmt.h"
 #include "Messaging.h"
 #include "MessageSupport.h"
@@ -39,8 +40,8 @@
 #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              0.000065F                                                           ///< P term for RO pump flow control.
+#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.00022F                                                            ///< 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 +98,8 @@
     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,
@@ -123,9 +124,9 @@
     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();
@@ -241,7 +242,15 @@
     if ( getTargetROPumpFlowRateMLPM() > 0 )
     {
         ///transition to closed loop
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, getTargetROPumpDutyCyclePCT(), 0 );
+        if ( getCurrentOperationMode() == FP_MODE_GENP )
+        {
+            roPumpDutyCyclePctSet =  getCurrentROPumpDutyCyclePCT();
+        }
+        else
+        {
+            roPumpDutyCyclePctSet = roPumpFlowToPWM( getTargetROPumpFlowRateMLPM() );
+        }
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, 0.0F );
         state = RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
     }
     // If there is a target pressure set, transition to the PI controller and control to pressure.
@@ -270,7 +279,6 @@
 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 +304,10 @@
         // 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;