Index: firmware/App/Controllers/BalancingChamber.c
===================================================================
diff -u -rc0e1f5f4c4657c156a87cc8be6c3db38bb14db33 -r9a0079fa0513966864a8a521098b3718010c8e11
--- firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision c0e1f5f4c4657c156a87cc8be6c3db38bb14db33)
+++ firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision 9a0079fa0513966864a8a521098b3718010c8e11)
@@ -60,6 +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
@@ -106,6 +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;
@@ -127,6 +130,7 @@
 static void applyBalChamberSwitchingPeriod( F32 tdDialysateFlowrate );
 static BOOL isBalChamberTimeBasedSwitching( void );
 static void scheduleFirstCycleRelaxAfterQdApply( void );
+static void calculateBalancingChamberError( void );
 
 /*********************************************************************//**
  * @brief
@@ -185,6 +189,7 @@
     pendingTdDialysateFlowrate                  = 0.0F;
     isBalChamberSwitchingPeriodUpdatePending    = FALSE;
     bcSwitchingBasedOnClosedPeriodCounter       = 0;
+    balancingError                              = 0.0F;
     //TODO:remove once level sensor working
     bicarbChamberPeriodicFillCounter            = 0;
 }
@@ -1554,6 +1559,50 @@
 
 /*********************************************************************//**
  * @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
Index: firmware/App/Modes/ModeGenDialysate.c
===================================================================
diff -u -r99e330b5b872f68fdf2d842bd0597e54044d9ba9 -r9a0079fa0513966864a8a521098b3718010c8e11
--- firmware/App/Modes/ModeGenDialysate.c	(.../ModeGenDialysate.c)	(revision 99e330b5b872f68fdf2d842bd0597e54044d9ba9)
+++ firmware/App/Modes/ModeGenDialysate.c	(.../ModeGenDialysate.c)	(revision 9a0079fa0513966864a8a521098b3718010c8e11)
@@ -834,8 +834,8 @@
 #endif
     else
     {
-        //Execute ultrafiltration
-        execUFControl();
+        // Perform ultrafiltration
+        handleUFControl();
     }
 
     return state;