Index: firmware/App/Controllers/BalancingChamber.c
===================================================================
diff -u -r0bcac6885c8461b05da276fd245b580b7339ddfd -r78dc7a98fb2a3d28bbdeb4eade1bba03641433d3
--- firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision 0bcac6885c8461b05da276fd245b580b7339ddfd)
+++ firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision 78dc7a98fb2a3d28bbdeb4eade1bba03641433d3)
@@ -59,7 +59,8 @@
 #define BICARB_CHAMBER_PERIODIC_FILL_TIME           ( 1 * SEC_PER_MIN * \
                                                     ( MS_PER_SECOND / TASK_GENERAL_INTERVAL ) ) ///< Periodic bicarb chamber fill request 60 sec x 20 = 1200
 #define BAL_CHAMBER_FILL_TIMEOUT_FACTOR             3.0F                                        ///< Balancing Chamber fill timeout factor (300% of observed fill count)
-
+#define COMP_SLOPE                                  -0.000376F                                  ///< Balancing chamber temperature compensation slope factor
+#define COMP_INTERCEPT                              1.007269F                                   ///< Balancing chamber temperature compensation intercept factor
 /// Payload record structure for balancing chamber switch only request
 typedef struct
 {
@@ -105,6 +106,7 @@
 static F32 pendingTdDialysateFlowrate;                                                          ///< Pending TD dialysate flow rate; applied at FillEnd after a BC switch completes.
 static BOOL isBalChamberSwitchingPeriodUpdatePending;                                           ///< BC switching period update pending apply at fill end.
 static U32 bcSwitchingBasedOnClosedPeriodCounter;                                               ///< Valve-close segments remaining before first-cycle relaxations clear after Qd timing apply.
+static F32 balancingError;                                                                      ///< balancing error that has been calculated during balancing chamber switching.
 
 //TODO: remove later once level sensor working
 static U32 bicarbChamberPeriodicFillCounter;  
@@ -126,6 +128,7 @@
 static void applyBalChamberSwitchingPeriod( F32 tdDialysateFlowrate );
 static BOOL isBalChamberTimeBasedSwitching( void );
 static void scheduleFirstCycleRelaxAfterQdApply( void );
+static void calculateBalancingChamberError( void );
 
 /*********************************************************************//**
  * @brief
@@ -184,6 +187,7 @@
     pendingTdDialysateFlowrate                  = 0.0F;
     isBalChamberSwitchingPeriodUpdatePending    = FALSE;
     bcSwitchingBasedOnClosedPeriodCounter       = 0;
+    balancingError                              = 0.0F;
     //TODO:remove once level sensor working
     bicarbChamberPeriodicFillCounter            = 0;
 }
@@ -341,6 +345,12 @@
     currentBalChamberSwitchingCounter += 1;
     currentBalChamberFillCounter += 1;
 
+    //Calculate balancing error to be used to adjust UF rate
+    if ( balChamberExecState > BAL_CHAMBER_STATE_IDLE )
+    {
+        calculateBalancingChamberError();
+    }
+
     if ( ( getTestConfigStatus( TEST_CONFIG_DD_ENABLE_DRY_BICARB ) == TRUE ) && ( balChamberExecState > BAL_CHAMBER_STATE_IDLE ) )
     {
 #ifdef CONDUCTIVE_LEVEL_SENSOR_ENABLED
@@ -1524,6 +1534,50 @@
 
 /*********************************************************************//**
  * @brief
+ * The calculateBalancingChamberError function calculates the balancing error
+ * based on the fresh and spent dialysate temperature differences.
+ * @details \b Inputs: D4 and D50 temperature
+ * @details \b Outputs: balancing error
+ * @return balancing error the balancing error that impacts ultrafilteration.
+ *************************************************************************/
+static void calculateBalancingChamberError( void )
+{
+    F32 freshDensity        = 0.0F;
+    F32 spentDensity        = 0.0F;
+    F32 compFreshFlowrate   = 0.0F;
+    F32 compSpentFlowrate   = 0.0F;
+
+    // Fresh side dialysate density
+    if ( getTestConfigStatus( TEST_CONFIG_DD_FP_ENABLE_BETA_1_0_HW ) == TRUE )
+    {
+        freshDensity = ( COMP_SLOPE * getFilteredTemperatureValue( D4_TEMP ) ) + COMP_INTERCEPT;
+    }
+    else
+    {
+        freshDensity = ( COMP_SLOPE * getFilteredTemperatureValue( D99_TEMP ) ) + COMP_INTERCEPT;
+    }
+
+    spentDensity        = ( COMP_SLOPE * getFilteredTemperatureValue( D50_TEMP ) ) + COMP_INTERCEPT;        // spent side dialysate density
+    compFreshFlowrate   = getTDDialysateFlowrate() * freshDensity;                             // Qd * fresh density
+    compSpentFlowrate   = getTDDialysateFlowrate() * spentDensity;                             // Qd * spent density
+    balancingError      = compFreshFlowrate - compSpentFlowrate;                               // Error in g/min
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getBalancingChamberError function gets the calcualted balancing chamber
+ * error that may be used for adjusting the ultrafiltration rate.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @return balancing chamber error
+ *************************************************************************/
+F32 getBalancingChamberError( void )
+{
+    return balancingError;
+}
+
+/*********************************************************************//**
+ * @brief
  * The publishBalChamberData function broadcasts the balancing chamber
  * execution data at defined interval.
  * @details \b Inputs: balChamberDataPublicationTimerCounter