Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r68ee5d128b86860fac265d5ea25600bed9327077 -r7350aa8f5e25799f294433fea4d98dd23c4df642
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 68ee5d128b86860fac265d5ea25600bed9327077)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 7350aa8f5e25799f294433fea4d98dd23c4df642)
@@ -76,7 +76,6 @@
 #define BP_MAX_MOTOR_SPEED_ERROR_RPM        300.0F          ///< Maximum difference in speed between measured and commanded RPM.
 #define BP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT 0.15F           ///< Maximum motor speed vs target difference in percent.
 
-
 /// Persist time (in ms) for motor off error condition.
 static const U32 BP_OFF_ERROR_PERSIST             = ( 5 * MS_PER_SECOND );
 /// Persist time (in ms) motor speed error condition.
@@ -1169,7 +1168,7 @@
         F32 measRotorSpeed = fabs( getMeasuredBloodPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
-        F32 measMotorSpeedDeltaPct = deltaRotorSpeed / measMotorSpeedInRotorRPM;
+        F32 measMotorSpeedDeltaPct = fabs( deltaRotorSpeed / measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
         if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK,
Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -r68ee5d128b86860fac265d5ea25600bed9327077 -r7350aa8f5e25799f294433fea4d98dd23c4df642
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 68ee5d128b86860fac265d5ea25600bed9327077)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 7350aa8f5e25799f294433fea4d98dd23c4df642)
@@ -1299,7 +1299,7 @@
         F32 measRotorSpeed = fabs( getMeasuredDialInPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DIP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
-        F32 measMotorSpeedDeltaPct = deltaRotorSpeed / measMotorSpeedInRotorRPM;
+        F32 measMotorSpeedDeltaPct = fabs( deltaRotorSpeed / measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
         if ( ( deltaMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM ) )
Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r68ee5d128b86860fac265d5ea25600bed9327077 -r7350aa8f5e25799f294433fea4d98dd23c4df642
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 68ee5d128b86860fac265d5ea25600bed9327077)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 7350aa8f5e25799f294433fea4d98dd23c4df642)
@@ -79,7 +79,6 @@
 #define DOP_MAX_MOTOR_SPEED_ERROR_RPM           300.0F          ///< Maximum difference in speed between measured and commanded RPM.
 #define DOP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT    0.15F           ///< Maximum motor speed vs target difference in percent.
 
-
 /// Persist time (task intervals) for motor off error condition.
 static const U32 DOP_OFF_ERROR_PERSIST          = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
 /// Persist time (task intervals) motor speed error condition.
@@ -1054,7 +1053,7 @@
         F32 measRotorSpeed = fabs( getMeasuredDialOutPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DOP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
-        F32 measMotorSpeedDeltaPct = deltaRotorSpeed / measMotorSpeedInRotorRPM;
+        F32 measMotorSpeedDeltaPct = fabs( deltaRotorSpeed / measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
         if ( ( deltaMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) )
Index: firmware/App/Modes/SelfTests.c
===================================================================
diff -u -r5c2c248ad4bcdccdcd78943ce567ba6dd7b900b5 -r7350aa8f5e25799f294433fea4d98dd23c4df642
--- firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision 5c2c248ad4bcdccdcd78943ce567ba6dd7b900b5)
+++ firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision 7350aa8f5e25799f294433fea4d98dd23c4df642)
@@ -1588,8 +1588,8 @@
  * @brief
  * The handleWetSelfTestStartFirstDisplacementState function setups the valves
  * and pumps to start first dialysate displacement.
- * @details Inputs: settleStartTime
- * @details Outputs: setup valves and pump, reservoirVolume[]
+ * @details Inputs: settleStartTime, isValvesSettingSent
+ * @details Outputs: isValvesSettingSent
  * @return the next state of wet self-tests state machine
  *************************************************************************/
 static WET_SELF_TESTS_STATE_T handleWetSelfTestFirstDisplacementSetupState( void )
@@ -1731,8 +1731,8 @@
  * @brief
  * The handleWetSelfTestSecondDisplacementSetupState function setups the valves
  * and pumps to start second dialysate displacement.
- * @details Inputs: settleStartTime
- * @details Outputs: setup valves and pump, reservoirVolume[]
+ * @details Inputs: settleStartTime, isValvesSettingSent
+ * @details Outputs: isValvesSettingSent
  * @return the next state of wet self-tests state machine
  *************************************************************************/
 static WET_SELF_TESTS_STATE_T handleWetSelfTestSecondDisplacementSetupState( void )
@@ -1775,8 +1775,8 @@
  * @brief
  * The handleWetSelfTestSecondDisplacementState function handles the first
  * dialysate displacement from reservoir 2 to reservoir 1.
- * @details Inputs: firstDisplacementStartTime, measured dialysate flow rate
- * @details Outputs: integrated volume
+ * @details Inputs: displacementStartTime, fmdIntegratedVolume, settleStartTime
+ * @details Outputs: displacementStartTime
  * @return the next state of wet self-tests state machine
  *************************************************************************/
 static WET_SELF_TESTS_STATE_T handleWetSelfTestSecondDisplacementState( void )