Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r2169bb140369dd394aadedcf1cc0d5ea4832e286 -r91982bb1378f3a4a614313a1c0d9dbf83b81014b
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 2169bb140369dd394aadedcf1cc0d5ea4832e286)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 91982bb1378f3a4a614313a1c0d9dbf83b81014b)
@@ -70,10 +70,15 @@
 static F32 roPumpDutyCyclePctSet;                                                                   ///< Currently set RO pump PWM duty cycle.
 static OVERRIDE_F32_T roPumpOpenLoopTargetDutyCycle;                                                ///< Target RO pump open loop PWM.
 
-static U32 backupROPumpFlowRate = 0;
-static F32 backupROPumpPressure = 0.0F;
-static F32 backupROPumpDutyCyclePctSet = 0.0F;
-static BOOL backupSet = FALSE;
+//typedef enum
+//{
+//    OVERRIDE_NONE_ACTIVE = 0,
+//    OVERRIDE_FLOW,
+//    OVERRIDE_PRESSURE,
+//    OVERRIDE_DUTYCYCLE
+//} OVERRIDE_TYPE_E;
+//
+//static OVERRIDE_TYPE_E lastOverrideType = OVERRIDE_NONE_ACTIVE;
 
 // ********** private function prototypes **********
 
@@ -277,7 +282,7 @@
         signalROPumpHardStop();
     }
     // Check if need to switch control modes
-    else if ( getTargetROPumpPressure() > 0.0F )  // isTargetPressureActive() == TRUE inside isTargetPressure -> T/F based on data and ov data.
+    else if ( getTargetROPumpPressure() > 0.0F )   // isTargetPressureActive() == TRUE inside isTargetPressure -> T/F based on data and ov data.
     {
         // Transition to target pressure
         resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, roPumpDutyCyclePctSet, 0 );
@@ -369,21 +374,35 @@
     {
         if ( targetROPumpFlowRate.override != OVERRIDE_RESET )
         {
-            if (!backupSet)
+            if ( targetROPumpFlowRate.ovInitData == 0 )
             {
-                backupROPumpFlowRate = targetROPumpFlowRate.data;
-                backupROPumpPressure = targetROPumpPressure.data;
-                backupROPumpDutyCyclePctSet = roPumpOpenLoopTargetDutyCycle.data;
-                backupSet = TRUE;
+                targetROPumpFlowRate.ovInitData = targetROPumpFlowRate.data;
             }
-            // Clear previous target data
-            if ( getTargetROPumpPressure() > 0.0F )
+
+            if ( targetROPumpPressure.data > 0.0 )
             {
-                targetROPumpPressure.data = 0.0F;
+                if ( targetROPumpPressure.override != OVERRIDE_RESET )
+                {
+                    targetROPumpPressure.data = 0.0;
+                }
+                else
+                {
+                    targetROPumpPressure.ovInitData = targetROPumpPressure.data;
+                    targetROPumpPressure.data = 0.0;
+                }
             }
-            if ( getTargetROPumpDutyCyclePCT() > 0.0F )
+            if ( roPumpOpenLoopTargetDutyCycle.data > 0.0 )
             {
-                roPumpOpenLoopTargetDutyCycle.data = 0.0F;
+                if ( roPumpOpenLoopTargetDutyCycle.override != OVERRIDE_RESET )
+                {
+//                    roPumpOpenLoopTargetDutyCycle.ovInitData = roPumpOpenLoopTargetDutyCycle.data;
+                    roPumpOpenLoopTargetDutyCycle.data = 0.0;
+                }
+                else
+                {
+                    roPumpOpenLoopTargetDutyCycle.ovInitData = roPumpOpenLoopTargetDutyCycle.data;
+                    roPumpOpenLoopTargetDutyCycle.data = 0.0;
+                }
             }
         }
         targetROPumpFlowRate.data = roFlowRate;
@@ -421,21 +440,33 @@
     {
         if ( targetROPumpPressure.override != OVERRIDE_RESET )
         {
-            if (!backupSet)
+            if ( targetROPumpPressure.ovInitData == 0 )
             {
-                backupROPumpFlowRate = targetROPumpFlowRate.data;
-                backupROPumpPressure = targetROPumpPressure.data;
-                backupROPumpDutyCyclePctSet = roPumpOpenLoopTargetDutyCycle.data;
-                backupSet = TRUE;
+                targetROPumpPressure.ovInitData = targetROPumpPressure.data;
             }
-            // Clear previous target data
-            if ( getTargetROPumpFlowRateMLPM() > 0 )
+            if ( targetROPumpFlowRate.data > 0 )
             {
-                targetROPumpFlowRate.data = 0;
+                if ( targetROPumpFlowRate.override != OVERRIDE_RESET )
+                {
+                    targetROPumpFlowRate.data = 0;
+                }
+                else
+                {
+                    targetROPumpFlowRate.ovInitData = targetROPumpFlowRate.data;
+                    targetROPumpFlowRate.data = 0;
+                }
             }
-            if ( getTargetROPumpDutyCyclePCT() > 0.0F )
+            if ( roPumpOpenLoopTargetDutyCycle.data > 0.0 )
             {
-                roPumpOpenLoopTargetDutyCycle.data = 0.0F;
+                if ( roPumpOpenLoopTargetDutyCycle.override != OVERRIDE_RESET )
+                {
+                    roPumpOpenLoopTargetDutyCycle.data = 0.0;
+                }
+                else
+                {
+                    roPumpOpenLoopTargetDutyCycle.ovInitData = roPumpOpenLoopTargetDutyCycle.data;
+                    roPumpOpenLoopTargetDutyCycle.data = 0.0;
+                }
             }
         }
         targetROPumpPressure.data = roPressure;
@@ -447,8 +478,11 @@
     }
     else if ( roPressure == 0.0F )
     {
-        stopPumpRequest = TRUE;
         result = TRUE;
+        if ( ( getTargetROPumpFlowRateMLPM() == 0 ) && ( getTargetROPumpDutyCyclePCT() == 0.0 ) )
+        {
+            stopPumpRequest = TRUE;
+        }
     }
 
     // Requested flow rate is out of range
@@ -477,26 +511,36 @@
 
     if ( ( dutyCycle >= MIN_FLUID_PUMP_DUTY_CYCLE_PCT ) && ( dutyCycle <= MAX_FLUID_PUMP_DUTY_CYCLE_PCT ) )
     {
-
         if ( roPumpOpenLoopTargetDutyCycle.override != OVERRIDE_RESET )
         {
-            if (!backupSet)
+            if ( roPumpOpenLoopTargetDutyCycle.ovInitData == 0 )
             {
-                backupROPumpFlowRate = targetROPumpFlowRate.data;
-                backupROPumpPressure = targetROPumpPressure.data;
-                backupROPumpDutyCyclePctSet = roPumpOpenLoopTargetDutyCycle.data;
-                backupSet = TRUE;
+                roPumpOpenLoopTargetDutyCycle.ovInitData = roPumpOpenLoopTargetDutyCycle.data;
             }
-            // Clear previous target data
-            if ( getTargetROPumpFlowRateMLPM() > 0 )
+            if ( targetROPumpFlowRate.data > 0 )
             {
-                targetROPumpFlowRate.data = 0;
+                if ( targetROPumpFlowRate.override != OVERRIDE_RESET )
+                {
+                    targetROPumpFlowRate.data = 0;
+                }
+                else
+                {
+                    targetROPumpFlowRate.ovInitData = targetROPumpFlowRate.data;
+                    targetROPumpFlowRate.data = 0;
+                }
             }
-            if ( getTargetROPumpPressure() > 0.0F )
+            if ( targetROPumpPressure.data > 0.0 )
             {
-                targetROPumpPressure.data = 0.0F;
+                if ( targetROPumpPressure.override != OVERRIDE_RESET )
+                {
+                    targetROPumpPressure.data = 0.0;
+                }
+                else
+                {
+                    targetROPumpPressure.ovInitData = targetROPumpPressure.data;
+                    targetROPumpPressure.data = 0.0;
+                }
             }
-
         }
         // Set the new duty cycle of the pump
         roPumpOpenLoopTargetDutyCycle.data = dutyCycle;
@@ -506,8 +550,11 @@
     }
     else if ( dutyCycle == 0.0F )
     {
-        stopPumpRequest = TRUE;
         result = TRUE;
+        if ( getTargetROPumpFlowRateMLPM() == 0 && getTargetROPumpPressure() == 0.0 )
+        {
+            stopPumpRequest = TRUE;
+        }
     }
     else
     {
@@ -730,24 +777,33 @@
  *************************************************************************/
 BOOL testROPumpTargetPressureOverride( MESSAGE_T *message )
 {
-    BOOL result = f32Override( message, &targetROPumpPressure );
-    if ( backupSet )
+    if ( targetROPumpPressure.override == OVERRIDE_RESET )
     {
         // Restore previous flow and pressure values
-        if ( targetROPumpFlowRate.override == OVERRIDE_RESET && backupSet )
+        targetROPumpPressure.data = targetROPumpPressure.ovInitData;
+        targetROPumpPressure.ovInitData = 0.0;
+        if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET )    // isTargetDutyCycleActive
         {
-            targetROPumpFlowRate.data = backupROPumpFlowRate;
+            roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovInitData;
         }
-        if ( targetROPumpPressure.override == OVERRIDE_RESET )
+        else
         {
-            targetROPumpPressure.data = backupROPumpPressure;
+            roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovData;
         }
-        if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET )
+        if ( targetROPumpFlowRate.override == OVERRIDE_RESET )    // isTargetFlowActive
         {
-            roPumpOpenLoopTargetDutyCycle.data = backupROPumpDutyCyclePctSet;
+            targetROPumpFlowRate.data = targetROPumpFlowRate.ovInitData;
         }
-        backupSet = FALSE;
+        else
+        {
+            targetROPumpFlowRate.data = targetROPumpFlowRate.ovData;
+        }
     }
+//    else if ( targetROPumpFlowRate.override != OVERRIDE_RESET )
+//    {
+//        lastOverrideType = OVERRIDE_PRESSURE;
+//    }
+    BOOL result = f32Override( message, &targetROPumpPressure );
     setROPumpTargetPressure(getTargetROPumpPressure());
 
     return result;
@@ -765,15 +821,33 @@
  *************************************************************************/
 BOOL testROPumpTargetFlowOverride( MESSAGE_T *message )
 {
-    BOOL result = u32Override( message, &targetROPumpFlowRate, MIN_RO_FLOWRATE_MLPM, MAX_RO_FLOWRATE_MLPM );
-    if ( targetROPumpFlowRate.override == OVERRIDE_RESET && backupSet )
+    if ( targetROPumpFlowRate.override == OVERRIDE_RESET )
     {
         // Restore previous flow and pressure values
-        targetROPumpFlowRate.data = backupROPumpFlowRate;
-        targetROPumpPressure.data = backupROPumpPressure;
-        roPumpOpenLoopTargetDutyCycle.data = backupROPumpDutyCyclePctSet;
-        backupSet = FALSE;
+        targetROPumpFlowRate.data = targetROPumpFlowRate.ovInitData;
+        targetROPumpFlowRate.ovInitData = 0;
+        if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET )    // isTargetDutyCycleActive
+        {
+            roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovInitData;
+        }
+        else
+        {
+            roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovData;
+        }
+        if ( targetROPumpPressure.override == OVERRIDE_RESET )    // isTargetPressureActive
+        {
+            targetROPumpPressure.data = targetROPumpPressure.ovInitData;
+        }
+        else
+        {
+            targetROPumpPressure.data = targetROPumpPressure.ovData;
+        }
     }
+//    else if ( targetROPumpFlowRate.override != OVERRIDE_RESET )
+//    {
+//        lastOverrideType = OVERRIDE_FLOW;
+//    }
+    BOOL result = u32Override( message, &targetROPumpFlowRate, MIN_RO_FLOWRATE_MLPM, MAX_RO_FLOWRATE_MLPM );
     setROPumpTargetFlowRateMLPM(getTargetROPumpFlowRateMLPM());
 
     return result;
@@ -791,16 +865,34 @@
  *************************************************************************/
 BOOL testROPumpTargetDutyCycleOverride( MESSAGE_T *message )
 {
-    BOOL result = f32Override( message, &roPumpOpenLoopTargetDutyCycle );
-    if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET && backupSet )
+    if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET )
     {
         // Restore previous flow and pressure values
-        targetROPumpFlowRate.data = backupROPumpFlowRate;
-        targetROPumpPressure.data = backupROPumpPressure;
-        roPumpOpenLoopTargetDutyCycle.data = backupROPumpDutyCyclePctSet;
-        backupSet = FALSE;
-
+        roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovInitData;
+        roPumpOpenLoopTargetDutyCycle.ovInitData = 0.0;
+        if ( targetROPumpFlowRate.override == OVERRIDE_RESET )    // isTargetFlowActive
+        {
+            targetROPumpFlowRate.data = targetROPumpFlowRate.ovInitData;
+        }
+        else
+        {
+            targetROPumpFlowRate.data = targetROPumpFlowRate.ovData;
+        }
+        if ( targetROPumpPressure.override == OVERRIDE_RESET )    // isTargetPressureActive
+        {
+            targetROPumpPressure.data = targetROPumpPressure.ovInitData;
+        }
+        else
+        {
+            targetROPumpPressure.data = targetROPumpPressure.ovData;
+        }
     }
+//    else if ( roPumpOpenLoopTargetDutyCycle.override != OVERRIDE_RESET )
+//    {
+//        lastOverrideType = OVERRIDE_DUTYCYCLE;
+//    }
+
+    BOOL result = f32Override( message, &roPumpOpenLoopTargetDutyCycle );
     setROPumpTargetDutyCycle(getTargetROPumpDutyCyclePCT());
 
     return result;