Index: firmware/App/Controllers/BalancingChamber.c
===================================================================
diff -u -r0bcac6885c8461b05da276fd245b580b7339ddfd -rb9fbba187be3070c9d3bd4b74eb7ccf884d6f14e
--- firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision 0bcac6885c8461b05da276fd245b580b7339ddfd)
+++ firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision b9fbba187be3070c9d3bd4b74eb7ccf884d6f14e)
@@ -7,8 +7,8 @@
 *
 * @file    BalancingChamber.c
 *
-* @author  (last)      Vinayakam Mani
-* @date    (last)      01-Jun-2026
+* @author  (last)      Sameer Kalliadan Poyil
+* @date    (last)      24-Jun-2026
 *
 * @author  (original)  Vinayakam Mani
 * @date    (original)  28-Jan-2025
@@ -23,6 +23,7 @@
 #include "FpgaDD.h"
 #include "Heaters.h"
 #include "Level.h"
+#include "MixingControl.h"
 #include "ModeGenDialysate.h"
 #include "ModeStandby.h"
 #include "Messaging.h"
@@ -59,6 +60,8 @@
 #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 +108,7 @@
 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 +130,7 @@
 static void applyBalChamberSwitchingPeriod( F32 tdDialysateFlowrate );
 static BOOL isBalChamberTimeBasedSwitching( void );
 static void scheduleFirstCycleRelaxAfterQdApply( void );
+static void calculateBalancingChamberError( void );
 
 /*********************************************************************//**
  * @brief
@@ -184,6 +189,7 @@
     pendingTdDialysateFlowrate                  = 0.0F;
     isBalChamberSwitchingPeriodUpdatePending    = FALSE;
     bcSwitchingBasedOnClosedPeriodCounter       = 0;
+    balancingError                              = 0.0F;
     //TODO:remove once level sensor working
     bicarbChamberPeriodicFillCounter            = 0;
 }
@@ -240,6 +246,34 @@
 
 /*********************************************************************//**
  * @brief
+ * The getBicarbDoseVol function gets the bicarb dose volume
+ * @details \b Inputs: bicarbDoseVolume
+ * @details \b Outputs: none
+ * @return TRUE if successful, FALSE if not.
+ *************************************************************************/
+F32 getBicarbDoseVol( void )
+{
+    F32 result = getF32OverrideValue( &bicarbDoseVolume );
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getAcidDoseVol function gets  acid mix volume
+ * @details \b Inputs: acidDoseVolume
+ * @details \b Outputs: none
+ * @return TRUE if successful, FALSE if not.
+ *************************************************************************/
+F32 getAcidDoseVol( void )
+{
+    F32 result = getF32OverrideValue( &acidDoseVolume );
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The applyBalChamberSwitchingPeriod function applies the active balancing
  * chamber switching time based on the provided dialysis flow rate.
  * @details \b Inputs: Dialysis flow rate.
@@ -341,7 +375,7 @@
     currentBalChamberSwitchingCounter += 1;
     currentBalChamberFillCounter += 1;
 
-    if ( ( getTestConfigStatus( TEST_CONFIG_DD_ENABLE_DRY_BICARB ) == TRUE ) && ( balChamberExecState > BAL_CHAMBER_STATE_IDLE ) )
+    if ( ( FALSE == getTestConfigStatus( TEST_CONFIG_DD_DISABLE_DRY_BICARB ) ) && ( balChamberExecState > BAL_CHAMBER_STATE_IDLE ) )
     {
 #ifdef CONDUCTIVE_LEVEL_SENSOR_ENABLED
         if ( LVL_STATE_LOW == bicarbChamberLevel )
@@ -617,7 +651,7 @@
     spentFillRiseMissCounter            = 0;
     isSpentFillComplete                 = FALSE;
 
-    if ( getTestConfigStatus( TEST_CONFIG_DD_ENABLE_DRY_BICARB ) == TRUE )
+    if ( FALSE == getTestConfigStatus( TEST_CONFIG_DD_DISABLE_DRY_BICARB ) )
     {
         bicarbVolume = getBicarbMixVol();
         acidVolume = getAcidMixVol();
@@ -763,7 +797,7 @@
     }
 
     // If the dry bicarbonate is enabled then we ignore looking at d18 pressure to be in range.
-    if ( ( TRUE == getTestConfigStatus( TEST_CONFIG_DD_ENABLE_DRY_BICARB ) ) && ( TRUE == getBicarbChamberFillRequested() ) )
+    if ( ( FALSE == getTestConfigStatus( TEST_CONFIG_DD_DISABLE_DRY_BICARB ) ) && ( TRUE == getBicarbChamberFillRequested() ) )
     {
         isPressureStabilizedDuringFill = TRUE;
     }
@@ -935,7 +969,7 @@
     spentFillRiseMissCounter            = 0;
     isSpentFillComplete                 = FALSE;
 
-    if ( getTestConfigStatus( TEST_CONFIG_DD_ENABLE_DRY_BICARB ) == TRUE )
+    if ( FALSE == getTestConfigStatus( TEST_CONFIG_DD_DISABLE_DRY_BICARB ) )
     {
         bicarbVolume = getBicarbMixVol();
         acidVolume = getAcidMixVol();
@@ -1015,7 +1049,7 @@
     spentDialPressure               = getFilteredPressure( D51_PRES );
 
     // If the dry bicarbonate is enabled then we ignore looking at d18 pressure to be in range.
-    if ( ( TRUE == getTestConfigStatus( TEST_CONFIG_DD_ENABLE_DRY_BICARB ) ) && ( TRUE == getBicarbChamberFillRequested() ) )
+    if ( ( FALSE == getTestConfigStatus( TEST_CONFIG_DD_DISABLE_DRY_BICARB ) ) && ( TRUE == getBicarbChamberFillRequested() ) )
     {
         isPressureStabilizedDuringFill = TRUE;
     }
@@ -1524,6 +1558,50 @@
 
 /*********************************************************************//**
  * @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 calculated balancing chamber
+ * error that may be used for adjusting the ultrafiltration rate.
+ * @details \b Inputs: balancingError
+ * @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