Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rac6fc5b74e15c8925e4579c847ddfca8e1e361ad -r59a959e90acca96b44158dcd65706e83069dc859
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision ac6fc5b74e15c8925e4579c847ddfca8e1e361ad)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 59a959e90acca96b44158dcd65706e83069dc859)
@@ -105,7 +105,7 @@
 /// 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 : -1 ) )
 /// 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  )
 
@@ -1016,7 +1016,7 @@
 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 )
@@ -1046,11 +1046,11 @@
 
     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 );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target