Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r0b8f332794e830b2a9c87c7b7ba852120e1a7334 -r3981c29f7244ab2c4e6b89624e34663303202c77
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 0b8f332794e830b2a9c87c7b7ba852120e1a7334)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 3981c29f7244ab2c4e6b89624e34663303202c77)
@@ -7,8 +7,8 @@
 *
 * @file    BloodFlow.c
 *
-* @author  (last)      Dara Navaei
-* @date    (last)      18-Oct-2022
+* @author  (last)      Sean Nash
+* @date    (last)      16-Dec-2022
 *
 * @author  (original)  Sean Nash
 * @date    (original)  07-Nov-2019
@@ -72,8 +72,9 @@
 #define BP_MAX_FLOW_RATE                   1320.0F          ///< Maximum measured BP flow rate allowed.
 #define BP_MIN_FLOW_RATE                  -1320.0F          ///< Minimum measured BP flow rate allowed.
 #define BP_MAX_MOTOR_SPEED_WHILE_OFF_RPM    100.0F          ///< Maximum motor speed (RPM) while motor is commanded off.
-#define BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM      5.0F            ///< Maximum difference in speed between motor and rotor (in rotor RPM).
+#define BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM      2.0F            ///< Maximum difference in speed between motor and rotor (in rotor RPM).
 #define BP_MAX_MOTOR_SPEED_ERROR_RPM        300.0F          ///< Maximum difference in speed between measured and commanded RPM.
+#define BP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT 0.15F           ///< Maximum motor speed vs target difference in percent.
 
 /// Persist time (in ms) for motor off error condition.
 static const U32 BP_OFF_ERROR_PERSIST             = ( 5 * MS_PER_SECOND );
@@ -409,7 +410,7 @@
     bloodPumpRotorCounter.data++;
 
     // Calculate rotor speed (in RPM)
-    bloodPumpRotorSpeedRPM.data = ( 1.0 / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN;
+    bloodPumpRotorSpeedRPM.data = ( 1.0F / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN;
     bpRotorRevStartTime = rotTime;
 
     // If we are supposed to stop pump at home position, stop pump now.
@@ -1165,8 +1166,9 @@
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredBloodPumpRotorSpeed() );
-        F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / BP_GEAR_RATIO );
-        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / BP_GEAR_RATIO );
+        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedDeltaPct = fabs( deltaRotorSpeed / measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
         if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK,
@@ -1181,7 +1183,7 @@
         }
 
         // Check measured rotor speed vs. measured motor speed while controlling to target
-        if ( deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
+        if ( ( deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) && ( measMotorSpeedDeltaPct > BP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT ) )
         {
             if ( ++errorBloodRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, BP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL ) )
             {