Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r29b65975bb4d6a5720ef39119a9af49fafc902fa -r7350aa8f5e25799f294433fea4d98dd23c4df642
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 29b65975bb4d6a5720ef39119a9af49fafc902fa)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 7350aa8f5e25799f294433fea4d98dd23c4df642)
@@ -74,6 +74,7 @@
 #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_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.
@@ -1166,7 +1167,8 @@
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredBloodPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO;
-        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        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 ) )
             {