Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r69ed3f91919e50b68ea448a70db81456fb4946a0 -re190a7eb5fb36d4a0c42e9db709571db3037d39d
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 69ed3f91919e50b68ea448a70db81456fb4946a0)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision e190a7eb5fb36d4a0c42e9db709571db3037d39d)
@@ -7,8 +7,8 @@
 *
 * @file    DialOutFlow.c
 *
-* @author  (last)      Bill Bracken
-* @date    (last)      29-Jun-2022
+* @author  (last)      Dara Navaei
+* @date    (last)      01-Sep-2022
 *
 * @author  (original)  Sean
 * @date    (original)  24-Jan-2020
@@ -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);
 
@@ -109,7 +107,7 @@
 /// Conversion from PWM duty cycle % to commanded pump motor speed.
 #define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm)         ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * 4000.0F )
 /// Macro converts a PWM to an estimated flow rate.
-#define DOP_ML_PER_MIN_FROM_PWM(pwm)            ( ( ( pwm - DOP_PWM_ZERO_OFFSET - 0.0972 ) / 0.0009 ) )
+#define DOP_ML_PER_MIN_FROM_PWM(pwm)            ( ( ( pwm - DOP_PWM_ZERO_OFFSET ) - 0.0972 ) / 0.0009  )
 
 #define PUMP_DIR_ERROR_COUNT_MASK                0x3F           ///< Bit mask for pump direction error counter.
 #define DOP_MIN_DIR_CHECK_SPEED_RPM              10.0F          ///< Minimum motor speed before we check pump direction.
@@ -295,7 +293,7 @@
                 dialOutPumpDirection = dir;
                 dialOutPumpControlMode = mode;
                 // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
-                dialOutPumpPWMDutyCyclePct = pwmDC;
+                dialOutPumpPWMDutyCyclePct = DOP_PWM_FROM_ML_PER_MIN(pwmDC);
 
                 switch ( dialOutPumpState )
                 {
@@ -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 )
@@ -1656,10 +1654,16 @@
 BOOL testSetDialOutPumpTargetDutyCycle( F32 value )
 {
     BOOL result = FALSE;
+    F32 targetPWM = DOP_ML_PER_MIN_FROM_PWM(value) ;
 
     if ( TRUE == isTestingActivated() )
     {
-        setDialOutPumpTargetRate( (S32)DOP_ML_PER_MIN_FROM_PWM( value ), MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        // currently conversion can create negative values with values <= 10%.
+        if ( targetPWM < 0 )
+        {
+            targetPWM = 0;
+        }
+        setDialOutPumpTargetRate( (U32)targetPWM, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
         result = TRUE;
     }