Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -rac6fc5b74e15c8925e4579c847ddfca8e1e361ad -r59a959e90acca96b44158dcd65706e83069dc859
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision ac6fc5b74e15c8925e4579c847ddfca8e1e361ad)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 59a959e90acca96b44158dcd65706e83069dc859)
@@ -108,7 +108,7 @@
 #define DIP_PWM_ZERO_OFFSET                  0.1F            ///< 10% PWM duty cycle = zero speed.
 
 /// Conversion from PWM duty cycle % to commanded pump motor speed.  PWM range is 10% to 90%.  RPM range is 0 to 3200.  3200 / 0.8 = 4000.
-#define DIP_PWM_TO_MOTOR_SPEED_RPM(pwm)      ( ((pwm) - DIP_PWM_ZERO_OFFSET) * 4000.0F )
+#define DIP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)  ( ( ((pwm) - DIP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1 : -1 ) )
 /// Conversion from pump motor speed to PWM duty cycle.
 #define DIP_MOTOR_SPEED_RPM_TO_PWM(rpm)      ( ( rpm / 4000.0F ) + 0.1 )
 // Macro converts PWM to estimate flow rate needed to achieve it.  TODO - this macro does not reverse the function that estimates PWM from target flow rate - and it should
@@ -1255,7 +1255,7 @@
 static void checkDialInPumpSpeeds( void )
 {
     F32 measMotorSpeed = getMeasuredDialInPumpSpeed();
-    F32 measMCMotorSpeed = fabs( getMeasuredDialInPumpMCSpeed() );
+    F32 measMCMotorSpeed = getMeasuredDialInPumpMCSpeed();
 
     // Check for pump running while commanded off
     if ( 0 == targetDialInFlowRate )
@@ -1286,12 +1286,13 @@
     // Checks that only occur when pump is running (and beyond ramp).
     if ( DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE == dialInPumpState )
     {
-        F32 cmdMotorSpeed = DIP_PWM_TO_MOTOR_SPEED_RPM( dialInPumpPWMDutyCyclePctSet );
+        F32 cmdMotorSpeed = DIP_PWM_TO_MOTOR_SPEED_RPM( dialInPumpPWMDutyCyclePctSet, dialInPumpDirectionSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredDialInPumpRotorSpeed() );
-        F32 measMotorSpeedInRotorRPM = measMotorSpeed / DIP_GEAR_RATIO;
-        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / DIP_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 ( ( deltaMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM ) )