Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -rd3819286869611f9c02add72a0f8e321598fdf42 -r012ee7b4f72e47aa351eb723abca0e3104ea677b
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision d3819286869611f9c02add72a0f8e321598fdf42)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 012ee7b4f72e47aa351eb723abca0e3104ea677b)
@@ -324,8 +324,12 @@
 {
     U16 roFlowReading = getFPGAROPumpFlowRate();
 
-    // Update sum for flow average calculation
-    measuredFlowReadingsSum += (S32)roFlowReading;
+    // If the flow is less than a certain value, FPGA will return 0xFFFF meaning that the flow is 0.
+    if ( FLOW_SENSOR_ZERO_READING != roFlowReading )
+    {
+        // Update sum for flow average calculation
+        measuredFlowReadingsSum += (S32)roFlowReading;
+    }
 
     // Read the pressure at the sensor. The pump cannot be more that the maximum allowed pressure
     // to make sure the hardware (especially the ROF) is not damaged. If it is the case, we need to stop immediately
@@ -347,25 +351,16 @@
 
         F32 flow = RO_FLOW_ADC_TO_LPM_FACTOR / ( (F32)measuredFlowReadingsSum * FLOW_AVERAGE_MULTIPLIER );
 
-        // If the flow is less than a certain value, FPGA will return 0xFFFF meaning that
-        // the flow is 0. Otherwise, convert the count to flow rate in mL/min
-        if ( ( FLOW_SENSOR_ZERO_READING == roFlowReading ) || ( 0 == roFlowReading ) )
+        // Right now there is only one flow sensor but a for loop is used here to be able to automatically accommodate
+        // any future flow sensors   TODO - this loop works with the flowSensorsCalRecord, but not with the measuredROFlowRateLPM structure.
+        for( sensor = 0; sensor < NUM_OF_CAL_DATA_FLOW_SENSORS; sensor++ )
         {
-           measuredROFlowRateLPM.data = 0.0;
+            measuredROFlowRateLPM.data = pow(flow, 4) * flowSensorsCalRecord.flowSensors[ sensor ].fourthOrderCoeff +
+                                         pow(flow, 3) * flowSensorsCalRecord.flowSensors[ sensor ].thirdOrderCoeff  +
+                                         pow(flow, 2) * flowSensorsCalRecord.flowSensors[ sensor ].secondOrderCoeff +
+                                             flow     * flowSensorsCalRecord.flowSensors[ sensor ].gain +
+                                                        flowSensorsCalRecord.flowSensors[ sensor ].offset;
         }
-        else
-        {
-           // Right now there is only one flow sensor but a for loop is used here to be able to automatically accommodate
-           // the future flow sensors
-           for( sensor = 0; sensor < NUM_OF_CAL_DATA_FLOW_SENSORS; sensor++ )
-           {
-               measuredROFlowRateLPM.data = pow(flow, 4) * flowSensorsCalRecord.flowSensors[ sensor ].fourthOrderCoeff +
-                                            pow(flow, 3) * flowSensorsCalRecord.flowSensors[ sensor ].thirdOrderCoeff  +
-                                            pow(flow, 2) * flowSensorsCalRecord.flowSensors[ sensor ].secondOrderCoeff +
-                                                flow     * flowSensorsCalRecord.flowSensors[ sensor ].gain +
-                                                           flowSensorsCalRecord.flowSensors[ sensor ].offset;
-           }
-        }
 
         measuredFlowReadingsSum = 0;
         flowFilterCounter = 0;
Index: firmware/App/Modes/ModeDrain.c
===================================================================
diff -u -r9df373d768695a399a141d5224bff88bea4efff5 -r012ee7b4f72e47aa351eb723abca0e3104ea677b
--- firmware/App/Modes/ModeDrain.c	(.../ModeDrain.c)	(revision 9df373d768695a399a141d5224bff88bea4efff5)
+++ firmware/App/Modes/ModeDrain.c	(.../ModeDrain.c)	(revision 012ee7b4f72e47aa351eb723abca0e3104ea677b)
@@ -134,6 +134,7 @@
         case DG_DRAIN_STATE_START:
             if ( TRUE == isDrainPumpOn() )
             {
+                resetReservoirsLowestWeight();
                 drainState = DG_DRAIN_STATE_DRAIN;
             }
             break;
Index: firmware/App/Modes/ModeFill.c
===================================================================
diff -u -r9df373d768695a399a141d5224bff88bea4efff5 -r012ee7b4f72e47aa351eb723abca0e3104ea677b
--- firmware/App/Modes/ModeFill.c	(.../ModeFill.c)	(revision 9df373d768695a399a141d5224bff88bea4efff5)
+++ firmware/App/Modes/ModeFill.c	(.../ModeFill.c)	(revision 012ee7b4f72e47aa351eb723abca0e3104ea677b)
@@ -463,18 +463,16 @@
     }
 
     // If we've reached our target fill to volume (by weight), we're done filling - go back to generation idle mode
-    if ( ( TRUE == hasTargetFillVolumeBeenReached( inactiveReservoir ) ) || ( ( integratedVolume_mL - reservoirBaseWeight ) >= MAX_RESERVOIR_VOLUME_ML ) )
+    if ( TRUE == hasTargetFillVolumeBeenReached( inactiveReservoir ) )
     {
         F32 const filledVolume_mL = getReservoirWeight( inactiveReservoir ) - reservoirBaseWeight;
         F32 const integratedVolumeToLoadCellReadingPercent = fabs( 1 - ( filledVolume_mL / integratedVolume_mL ) );
-        F32 const avgAcidConductivity = acidConductivityTotal / conductivitySampleCount;
+        F32 const avgAcidConductivity = acidConductivityTotal / conductivitySampleCount;  // TODO - should we be checking this below?
         F32 const avgDialysateConductivity = dialysateConductivityTotal / conductivitySampleCount;
 
         if ( integratedVolumeToLoadCellReadingPercent > FLOW_INTEGRATED_VOLUME_CHECK_TOLERANCE )
         {
-#ifndef DISABLE_MIXING
             SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_FLOW_METER_CHECK_FAILURE, filledVolume_mL, integratedVolume_mL );
-#endif
         }
 
 #ifndef DISABLE_DIALYSATE_CHECK
Index: firmware/App/Services/Reservoirs.c
===================================================================
diff -u -r9c523a8628bb75b601c048f67d3ef7250f45f547 -r012ee7b4f72e47aa351eb723abca0e3104ea677b
--- firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision 9c523a8628bb75b601c048f67d3ef7250f45f547)
+++ firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision 012ee7b4f72e47aa351eb723abca0e3104ea677b)
@@ -45,8 +45,10 @@
 
 #define MIN_DRAIN_INLET_PSI_EMPTY       -3.0                                            ///< Minimum drain inlet pressure (in PSI) to indicate reservoir is empty while drain pump on.
 
-#define RESERVOIR_DATA_PUB_INTERVAL     ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )       ///< interval (ms/task time) at which the reservoir data is published on the CAN bus.
+#define RESERVOIR_DATA_PUB_INTERVAL     ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )       ///< interval (ms/task time) at which the reservoir data is published on the CAN bus.
 
+#define MAX_REDUNDANT_LOAD_CELL_DIFF    50.0                                            ///< Maximum difference in redundant load cells when determing if fill completed.
+
 // ********** private data **********
 
 static U32 reservoirDataPublicationTimerCounter = 0;                                    ///< used to schedule reservoir data publication to CAN bus.
@@ -461,10 +463,17 @@
  *************************************************************************/
 BOOL hasTargetFillVolumeBeenReached( DG_RESERVOIR_ID_T reservoirId )
 {
-    F32 const loadcellWeight = getLoadCellSmallFilteredWeight( associatedLoadCell[ reservoirId ] );
+    F32 const loadcellWeight1 = getLoadCellSmallFilteredWeight( associatedLoadCell[ reservoirId ] );
+    F32 const loadcellWeight2 = getLoadCellSmallFilteredWeight( redundantLoadCell[ reservoirId ] );
     U32 const targetFillVolume = getU32OverrideValue( &fillVolumeTargetMl );
-    BOOL const hasTargetReached = ( loadcellWeight >= targetFillVolume );
+    BOOL const hasTargetReached = ( ( loadcellWeight1 >= targetFillVolume || loadcellWeight2 > ( targetFillVolume + MAX_REDUNDANT_LOAD_CELL_DIFF ) ) ? TRUE : FALSE );
 
+    // if redundant load cells too far apart at end of fill, alarm
+    if ( loadcellWeight1 < targetFillVolume )
+    {
+        // TODO - alarm
+    }
+
     return hasTargetReached;
 }