Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r46b163d19c65e8c21db7b0247bbb1af0dba1ece5 -r15919f0c12c0047d3b6331c1f97cdad1dafb3f1b
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 46b163d19c65e8c21db7b0247bbb1af0dba1ece5)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 15919f0c12c0047d3b6331c1f97cdad1dafb3f1b)
@@ -79,8 +79,6 @@
 static const U32 BP_OFF_ERROR_PERSIST             = ( 5 * MS_PER_SECOND );
 /// Persist time (in ms) motor speed error condition.
 static const U32 BP_MOTOR_SPEED_ERROR_PERSIST     = ( 5 * MS_PER_SECOND );
-/// Persist time (in ms) rotor speed error condition.
-static const U32 BP_ROTOR_SPEED_ERROR_PERSIST     = ( 22 * MS_PER_SECOND );
 /// Persist time (in ms) pump direction error condition.
 static const U32 BP_DIRECTION_ERROR_PERSIST       = ( 250 );
 /// Persist time period (in ms) blood pump rotor speed too fast error condition.
@@ -166,6 +164,7 @@
 static MOTOR_DIR_T bloodPumpDirectionSet = MOTOR_DIR_FORWARD;                       ///< Currently set blood flow direction
 static PUMP_CONTROL_MODE_T bloodPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;    ///< Requested blood pump control mode.
 static PUMP_CONTROL_MODE_T bloodPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< Currently set blood pump control mode.
+static U32 errorBloodRotorSpeedPersistTimerCtr = 0;                                 ///< Persistence timer counter for rotor speed error condition.
 
 /// Interval (in task intervals) at which to publish blood flow data to CAN bus.
 static OVERRIDE_U32_T bloodFlowDataPublishInterval = { BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, 0 };
@@ -254,7 +253,6 @@
     // Initialize persistent alarm for flow sensor
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_OFF_CHECK, 0, BP_OFF_ERROR_PERSIST );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK, 0, BP_MOTOR_SPEED_ERROR_PERSIST );
-    initPersistentAlarm( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, 0, BP_ROTOR_SPEED_ERROR_PERSIST );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK, 0, BP_DIRECTION_ERROR_PERSIST );
     initTimeWindowedCount( TIME_WINDOWED_COUNT_BP_COMMUTATION_ERROR, BP_COMMUTATION_ERROR_MAX_CNT, BP_COMMUTATION_ERROR_TIME_WIN_MS );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH, 0, BP_MAX_ROTOR_SPEED_ERROR_PERSIST );
@@ -1164,7 +1162,7 @@
         F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
-        F32 measRotorSpeed = getMeasuredBloodPumpRotorSpeed();
+        F32 measRotorSpeed = fabs( getMeasuredBloodPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
@@ -1181,20 +1179,28 @@
         }
 
         // Check measured rotor speed vs. measured motor speed while controlling to target
-        if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) ) )
+        if ( deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
         {
+            if ( ++errorBloodRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, BP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL ) )
+            {
 #ifndef _RELEASE_
-          if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_SPEED_CHECKS ) != SW_CONFIG_ENABLE_VALUE )
+                if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_SPEED_CHECKS ) != SW_CONFIG_ENABLE_VALUE )
 #endif
-          {
-            SET_ALARM_WITH_2_F32_DATA( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, measRotorSpeed, measMotorSpeed );
-          }
+                {
+                    SET_ALARM_WITH_2_F32_DATA( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, measRotorSpeed, measMotorSpeed );
+                }
+            }
+        }
+        else
+        {
+            errorBloodRotorSpeedPersistTimerCtr = 0;
         }
     }
     else
     {
         resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK );
-        resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK );
+        errorBloodRotorSpeedPersistTimerCtr = 0;
+
     }
 }