Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -ref0b3f0ec00fadc50f95e0db1a6477fb4b076ea1 -r2bb447181c2519690441d81f83563d17e0882ef2
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision ef0b3f0ec00fadc50f95e0db1a6477fb4b076ea1)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 2bb447181c2519690441d81f83563d17e0882ef2)
@@ -38,7 +38,7 @@
 #define MAX_BLOOD_FLOW_RATE                 500             // mL/min
 #define MIN_BLOOD_FLOW_RATE                 100             // mL/min
 
-#define MAX_BLOOD_PUMP_PWM_STEP_CHANGE      0.02            // duty cycle    TODO - fixed or parameterized or set in motor controller?
+#define MAX_BLOOD_PUMP_PWM_STEP_CHANGE      0.005           // max duty cycle change when ramping
 #define MAX_BLOOD_PUMP_PWM_DUTY_CYCLE       0.88            // controller will error if PWM duty cycle > 90%, so set max to 88%
 #define MIN_BLOOD_PUMP_PWM_DUTY_CYCLE       0.12            // controller will error if PWM duty cycle < 10%, so set min to 12%
 
@@ -47,7 +47,7 @@
 #define BP_I_COEFFICIENT                    0.00002         // I term for blood pump control
 #define BP_MAX_ERROR_SUM                    10.0            // for anti-wind-up in I term
 #define BP_MIN_ERROR_SUM                   -10.0
-#define BP_MAX_PWM_DC_DELTA                 0.01            // prevents large steps in PWM duty cycle
+#define BP_MAX_PWM_DC_DELTA                 0.01            // prevents large steps in PWM duty cycle while controlling
 #define BP_MIN_PWM_DC_DELTA                -0.01
 
 #define BP_MAX_CURR_WHEN_STOPPED_MA         150.0           // motor controller current should not exceed this when pump should be stopped
@@ -61,7 +61,7 @@
 #define BP_REV_PER_LITER                    124.0           // rotor revolutions per liter
 #define BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR    ( BP_REV_PER_LITER / ML_PER_LITER )
 #define BP_GEAR_RATIO                       32.0            // blood pump motor to blood pump gear ratio
-#define BP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.0003717       // ~27 BP motor RPM = 1% PWM duty cycle
+#define BP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.000369 //717       // ~27 BP motor RPM = 1% PWM duty cycle
 #define BP_PWM_ZERO_OFFSET                  0.1             // 10% PWM duty cycle = zero speed
 #define BP_PWM_FROM_ML_PER_MIN(rate)        ( (rate) * BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * BP_GEAR_RATIO * BP_MOTOR_RPM_TO_PWM_DC_FACTOR + BP_PWM_ZERO_OFFSET )
 
@@ -90,7 +90,7 @@
     NUM_OF_BLOOD_FLOW_SELF_TEST_STATES
 } BLOOD_FLOW_SELF_TEST_STATE_T;
 
-// CAN3 port pin assignments for pump stop and direction outputs
+// pin assignments for pump stop and direction outputs
 #define STOP_CAN3_PORT_MASK             0x00000002  // (Tx - re-purposed as output GPIO for blood pump stop signal)
 #define DIR_CAN3_PORT_MASK              0x00000002  // (Rx - re-purposed as output GPIO for blood pump direction signal)
 // blood pump stop and direction macros
@@ -339,7 +339,7 @@
     if ( getTargetBloodFlowRate() != 0 )
     {
         // set initial PWM duty cycle
-        bloodPumpPWMDutyCyclePctSet = MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
+        bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET + MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
         etpwmSetCmpA( etpwmREG1, (U32)FLOAT_TO_INT_WITH_ROUND( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) );
         // allow blood pump to run in requested direction
         setBloodPumpDirection( bloodPumpDirection );