Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r0b8f332794e830b2a9c87c7b7ba852120e1a7334 -r3981c29f7244ab2c4e6b89624e34663303202c77
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 0b8f332794e830b2a9c87c7b7ba852120e1a7334)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 3981c29f7244ab2c4e6b89624e34663303202c77)
@@ -8,7 +8,7 @@
 * @file    DialOutFlow.c
 *
 * @author  (last)      Sean Nash
-* @date    (last)      21-Nov-2022
+* @date    (last)      16-Dec-2022
 *
 * @author  (original)  Sean
 * @date    (original)  24-Jan-2020
@@ -75,8 +75,9 @@
 #define DOP_HALL_EDGE_COUNTS_PER_REV            48              ///< Number of hall sensor edge counts per motor revolution.
 
 #define DOP_MAX_MOTOR_SPEED_WHILE_OFF_RPM       100.0F          ///< Maximum motor speed (RPM) while motor is commanded off.
-#define DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM         5.0F            ///< Maximum difference in speed between motor and rotor (in rotor RPM).
+#define DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM         2.0F            ///< Maximum difference in speed between motor and rotor (in rotor RPM).
 #define DOP_MAX_MOTOR_SPEED_ERROR_RPM           300.0F          ///< Maximum difference in speed between measured and commanded RPM.
+#define DOP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT    0.15F           ///< Maximum motor speed vs target difference in percent.
 
 /// Persist time (task intervals) for motor off error condition.
 static const U32 DOP_OFF_ERROR_PERSIST          = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
@@ -392,7 +393,7 @@
     U32 deltaTime = calcTimeBetween( dopRotorRevStartTime, rotTime );
 
     // Calculate rotor speed (in RPM)
-    dialOutPumpRotorSpeedRPM.data = ( 1.0 / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN;
+    dialOutPumpRotorSpeedRPM.data = ( 1.0F / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN;
     dopRotorRevStartTime = rotTime;
 
     // If we are supposed to stop pump at home position, stop pump now.
@@ -1052,6 +1053,7 @@
         F32 measRotorSpeed = fabs( getMeasuredDialOutPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / DOP_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 > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) )
@@ -1072,7 +1074,7 @@
         }
 
         // Check measured rotor speed vs. measured motor speed while controlling to target
-        if ( deltaRotorSpeed > DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
+        if ( ( deltaRotorSpeed > DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) && ( measMotorSpeedDeltaPct > DOP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT ) )
         {
             if ( ++errorDialOutRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, DOP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL )  )
             {