An HVAC system includes an air handling unit (AHU), a heat recovery device, and a controller. The controller is configured to determine an average heating or cooling demand of one or more zones served by the AHU, determine if a heating or cooling capacity is available at the heat recovery device, where the capacity available at the heat recovery device is a heating or cooling capacity to heat or cool the air from an outdoor environment with air extracted from the one or more zones served by the AHU, determine a heat recovery command setpoint based on the determined average heating or cooling demand and the determined available heating or cooling capacity, and send a signal indicative of the determined heat recovery command setpoint to at least one of the AHU and the heat recovery device.
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