Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rac6fc5b74e15c8925e4579c847ddfca8e1e361ad -r44e745e602377ae878e1d31f0469cdcc47248ace
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision ac6fc5b74e15c8925e4579c847ddfca8e1e361ad)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 44e745e602377ae878e1d31f0469cdcc47248ace)
@@ -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);
@@ -105,7 +106,7 @@
 /// Macro converts a flow rate to an estimated PWM duty cycle %.
 #define DOP_PWM_FROM_ML_PER_MIN(rate)           ( ( ( rate ) * 0.0009F ) + 0.0972F + DOP_PWM_ZERO_OFFSET )
 /// 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 )
+#define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)     ( ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
 /// Macro converts a PWM to an estimated flow rate.
 #define DOP_ML_PER_MIN_FROM_PWM(pwm)            ( ( ( pwm - DOP_PWM_ZERO_OFFSET ) - 0.0972F ) / 0.0009F  )
 
@@ -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.
@@ -1009,14 +1010,14 @@
  * 2. while pump is controlling, measured motor speed should be within allowed range of measured motor controller speed.
  * 3. measured motor speed should be within allowed range of measured rotor speed.
  * All 3 checks have a persistence time that must be met before an alarm is triggered.
- * @details Inputs: targetDialOutFlowRate, dialOutPumpSpeedRPM, dialOutPumpRotorSpeedRPM
- * @details Outputs: alarm(s) may be triggered
+ * @details Inputs: dialOutPumpPWMDutyCyclePctSet, dialOutPumpState, dialOutPumpPWMDutyCyclePctSet, dialOutPumpDirectionSet
+ * @details Outputs: errorDialOutMotorOffPersistTimerCtr, alarm(s) may be triggered
  * @return none
  *************************************************************************/
 static void checkDialOutPumpSpeeds( void )
 {
     F32 measMotorSpeed = getMeasuredDialOutPumpSpeed();
-    F32 measMCMotorSpeed = fabs( getMeasuredDialOutPumpMCSpeed() );
+    F32 measMCMotorSpeed = getMeasuredDialOutPumpMCSpeed();
 
     // Check for pump running while commanded off
     if ( dialOutPumpPWMDutyCyclePctSet <= DOP_PWM_ZERO_OFFSET )
@@ -1046,12 +1047,13 @@
 
     if ( DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE == dialOutPumpState )
     {
-        F32 cmdMotorSpeed = DOP_PWM_TO_MOTOR_SPEED_RPM( dialOutPumpPWMDutyCyclePctSet );
+        F32 cmdMotorSpeed = DOP_PWM_TO_MOTOR_SPEED_RPM( dialOutPumpPWMDutyCyclePctSet, dialOutPumpDirectionSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredDialOutPumpRotorSpeed() );
-        F32 measMotorSpeedInRotorRPM = measMotorSpeed / DOP_GEAR_RATIO;
+        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 )  )
             {