Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -raf6229de70ba23f234dbfa8012d5f37cd2812563 -r66880a5ae8be5428145153db0416abfa1c96eda0
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision af6229de70ba23f234dbfa8012d5f37cd2812563)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 66880a5ae8be5428145153db0416abfa1c96eda0)
@@ -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              0.0001F                                                              ///< P term for RO pump flow control.
+#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.0008F                                                           ///< 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.
@@ -99,8 +99,8 @@
     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,
@@ -194,7 +194,7 @@
         // Set pump to on
         isROPumpOn = TRUE;
         roPumpDutyCyclePctSet = roPumpPresToPWM( getTargetROPumpPressure() );
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, roPumpDutyCyclePctSet, 0.0F );
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), 0.0F );
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
@@ -245,7 +245,7 @@
     if ( ( getTargetROPumpPressure() > 0.0F ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         //transition to closed loop
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpDutyCyclePCT(), 0 );
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), 0 );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
 
@@ -276,7 +276,7 @@
     if ( ( getTargetROPumpPressure() > 0.0F ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         // Transition to target pressure
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, roPumpDutyCyclePctSet, 0 );
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, getTargetROPumpPressure(), 0 );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
     else if ( ( getTargetROPumpDutyCyclePCT() > 0.0F ) && ( PUMP_CONTROL_MODE_OPEN_LOOP == roPumpControlMode ) )
@@ -294,13 +294,12 @@
     }
     else if ( ( ++roControlTimerCounter >= ROP_CONTROL_INTERVAL ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
-        //roPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, (F32)getTargetROPumpFlowRateMLPM(), getFilteredFlow( P16_FLOW ) );
-        //setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
+        // 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 ) ) )
         {
-            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 ) );
+            setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
+
             if ( FALSE == roPumpStartControl )
             {
                 roPumpStartControl = TRUE;
@@ -327,7 +326,7 @@
     // Check if we are changing control
     if ( ( getTargetROPumpFlowRateMLPM() > 0 ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
-        resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, 0 );
+        resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, getTargetROPumpFlowRateMLPM(), 0 );
         state = RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
     }
     else if ( ( getTargetROPumpDutyCyclePCT() > 0.0F ) && ( PUMP_CONTROL_MODE_OPEN_LOOP == roPumpControlMode ) )