Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -r1aeab08c1baf6445514b81fe51fc60a3e536e782 -r3b5080777e3dac1b5802ee18227f66a0b49deefa
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 1aeab08c1baf6445514b81fe51fc60a3e536e782)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 3b5080777e3dac1b5802ee18227f66a0b49deefa)
@@ -67,7 +67,7 @@
 #define MAX_ALLOWED_TARGET_OUTLET_PRESSURE     15.0                                                             ///< Maximum allowed outlet pressure for closed loop control.
 
 #define MAX_ALLOWED_OPEN_LOOP_RPM_OUT_OF_RANGE 100                                                              ///< Maximum allowed RPM out of range from target RPM in open loop.
-#define OPEN_LOOP_RPM_OUT_OF_RANGE_TIME_OUT    ( 5 * MS_PER_SECOND )                                            ///< Open loop RPM out of range time out in ms.
+#define OPEN_LOOP_RPM_OUT_OF_RANGE_TIME_OUT    ( 10 * MS_PER_SECOND )                                           ///< Open loop RPM out of range time out in ms.
 
 #define DRAIN_PUMP_ENABLE_SPI3_PORT_MASK       0x00000020                                                       ///< CS5 - Out put GPIO for pump enable.
 #define SET_DRAIN_PUMP_ENABLE()                {mibspiREG3->PC3 |= DRAIN_PUMP_ENABLE_SPI3_PORT_MASK;}           ///< Drain pump enable set macro.
@@ -175,11 +175,14 @@
 
     if ( ( 0 == rpm ) || ( ( rpm >= MIN_DRAIN_PUMP_RPM ) && ( rpm <= MAX_DRAIN_PUMP_RPM ) ) )
     {
-        drainPumpDAC            = (U32)GET_RPM_2_DAC_CONVERSION(rpm);
-        targetDrainPumpRPM      = rpm;
-        drainPumpControlMode    = PUMP_CONTROL_MODE_OPEN_LOOP;
-        drainPumpControlModeSet = drainPumpControlMode;
-        signalNewRPMRequest     = TRUE;
+        drainPumpDAC                 = (U32)GET_RPM_2_DAC_CONVERSION(rpm);
+        targetDrainPumpRPM           = rpm;
+        drainPumpControlMode         = PUMP_CONTROL_MODE_OPEN_LOOP;
+        drainPumpControlModeSet      = drainPumpControlMode;
+        signalNewRPMRequest          = TRUE;
+        // If this function was called, delayed command does not need to be executed
+        // so the pending count down is zeroed.
+        pendingDrainPumpCmdCountDown = 0;
         result = TRUE;
     }
     else
@@ -207,8 +210,8 @@
 
     if ( ( 0 == rpm ) || ( ( rpm >= MIN_DRAIN_PUMP_RPM ) && ( rpm <= MAX_DRAIN_PUMP_RPM ) ) )
     {
-        pendingDrainPumpCmd = DRAIN_PUMP_OPEN_LOOP_STATE;
-        pendingDrainPumpCmdTarget = (F32)rpm;
+        pendingDrainPumpCmd          = DRAIN_PUMP_OPEN_LOOP_STATE;
+        pendingDrainPumpCmdTarget    = (F32)rpm;
         pendingDrainPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
         result = TRUE;
     }
@@ -299,14 +302,14 @@
     stopDrainPump();
 
     // Reset all the variables to stop mode
-    targetDrainPumpRPM         = 0;
-    drainPumpState             = DRAIN_PUMP_OFF_STATE;
-    hasClosedLoopBeenRequested = FALSE;
-    drainPumpControlMode       = PUMP_CONTROL_MODE_CLOSED_LOOP;
-    drainPumpControlModeSet    = drainPumpControlMode;
-    drainControlTimerCounter   = 0;
-    pendingDrainPumpCmd = DRAIN_PUMP_OFF_STATE;
-    pendingDrainPumpCmdTarget = 0.0;
+    targetDrainPumpRPM           = 0;
+    drainPumpState               = DRAIN_PUMP_OFF_STATE;
+    hasClosedLoopBeenRequested   = FALSE;
+    drainPumpControlMode         = PUMP_CONTROL_MODE_CLOSED_LOOP;
+    drainPumpControlModeSet      = drainPumpControlMode;
+    drainControlTimerCounter     = 0;
+    pendingDrainPumpCmd          = DRAIN_PUMP_OFF_STATE;
+    pendingDrainPumpCmdTarget    = 0.0;
     pendingDrainPumpCmdCountDown = 0;
 }
 
@@ -356,7 +359,7 @@
         checkPersistentAlarm( ALARM_ID_DRAIN_PUMP_OFF_FAULT, isRPMTooHigh, getDrainPumpMeasuredRPM(), MIN_DRAIN_PUMP_RPM );
 
         // If the off fault alarm has become active, trigger the safety shutdown
-        if ( isAlarmActive( ALARM_ID_DRAIN_PUMP_OFF_FAULT ) )
+        if ( TRUE == isAlarmActive( ALARM_ID_DRAIN_PUMP_OFF_FAULT ) )
         {
             activateSafetyShutdown();
         }
@@ -396,9 +399,10 @@
                 targetDrainPumpRPM      = (U32)pendingDrainPumpCmdTarget;
                 drainPumpControlMode    = PUMP_CONTROL_MODE_OPEN_LOOP;
                 drainPumpControlModeSet = drainPumpControlMode;
+                signalNewRPMRequest     = TRUE;
             }
             pendingDrainPumpCmdTarget = 0.0;
-            pendingDrainPumpCmd = DRAIN_PUMP_OFF_STATE;
+            pendingDrainPumpCmd       = DRAIN_PUMP_OFF_STATE;
         }
     }
 
@@ -539,8 +543,6 @@
         // Set drain pump enable pin
         SET_DRAIN_PUMP_ENABLE();
 
-        // Turn off the new RPM signal
-        signalNewRPMRequest = FALSE;
         // Set drain pump DAC
         drainPumpDACSet = drainPumpDAC;
         setFPGADrainPumpSpeed( drainPumpDACSet );
@@ -609,9 +611,9 @@
     if ( TRUE == signalNewRPMRequest )
     {
         // Set drain pump DAC
-        drainPumpDACSet = drainPumpDAC;
-        setFPGADrainPumpSpeed( drainPumpDACSet );
+        drainPumpDACSet     = drainPumpDAC;
         signalNewRPMRequest = FALSE;
+        setFPGADrainPumpSpeed( drainPumpDACSet );
     }
 
     return state;