Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r1fb211e6161cb3df67a0ac6db8743116cb451555 -r3f97bee8c0d90048910ba7a79935bb751cc46c85
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 1fb211e6161cb3df67a0ac6db8743116cb451555)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 3f97bee8c0d90048910ba7a79935bb751cc46c85)
@@ -82,8 +82,6 @@
 static const U32 DOP_OFF_ERROR_PERSIST          = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
 /// Persist time (task intervals) motor speed error condition.
 static const U32 DOP_MOTOR_SPEED_ERROR_PERSIST  = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
-/// Persist time (task intervals) rotor speed error condition.
-static const U32 DOP_ROTOR_SPEED_ERROR_PERSIST  = ((12 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
 /// Persist time (task intervals) pump direction error condition.
 static const U32 DOP_DIRECTION_ERROR_PERSIST    = (250 / TASK_PRIORITY_INTERVAL);
 
@@ -1047,7 +1045,7 @@
         F32 cmdMotorSpeed = DOP_PWM_TO_MOTOR_SPEED_RPM( dialOutPumpPWMDutyCyclePctSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
-        F32 measRotorSpeed = getMeasuredDialOutPumpRotorSpeed();
+        F32 measRotorSpeed = fabs( getMeasuredDialOutPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DOP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
@@ -1072,7 +1070,7 @@
         // Check measured rotor speed vs. measured motor speed while controlling to target
         if ( deltaRotorSpeed > DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
         {
-            if ( ++errorDialOutRotorSpeedPersistTimerCtr >= DOP_ROTOR_SPEED_ERROR_PERSIST )
+            if ( ++errorDialOutRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, DOP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL )  )
             {
 #ifndef _RELEASE_
                 if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_SPEED_CHECKS ) != SW_CONFIG_ENABLE_VALUE )