Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rccfd15568f1e3d304320c2babb2fd4bcf0413304 -r8bd1ae47aa13a843aa8abd6321ddc050deacb4a6
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision ccfd15568f1e3d304320c2babb2fd4bcf0413304)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 8bd1ae47aa13a843aa8abd6321ddc050deacb4a6)
@@ -85,15 +85,14 @@
 
 #define DOP_SPEED_ADC_TO_RPM_FACTOR             1.751752        ///< Conversion factor from ADC counts to RPM for dialysate outlet pump motor.
 #define DOP_MOTOR_RPM_TO_PWM_DC_FACTOR          0.000193        ///< ~52 BP motor RPM = 1% PWM duty cycle
-#define UF_PWM_DC_PCT_PER_ML_PER_MIN            0.004           ///< Estimated DPo PWM duty cycle amount per each mL/min of ultrafiltration desired.
 #define DOP_CURRENT_ADC_TO_MA_FACTOR            3.002           ///< Conversion factor from ADC counts to mA for dialysate outlet pump motor.
 #define DOP_ADC_FULL_SCALE_V                    3.0             ///< DPo analog signals are 0-3V (while int. ADC ref V may be different).
 #define DOP_ADC_ZERO                            1998            ///< Mid-point (zero) for ADC readings.
 #define SIGN_FROM_12_BIT_VALUE(v)               ( (S16)(v) - (S16)DOP_ADC_ZERO )   ///< Macro converts a 12-bit ADC reading to a signed 16-bit value.
 
 
 /*** setDialOutFlowRxTotalVolumeAndRxTime ***/
-#define DOP_REV_PER_LITER                       150.0           ///< Rotor revolutions per liter.
+#define DOP_REV_PER_LITER                       144.7           ///< Rotor revolutions per liter.
 #define DOP_ML_PER_MIN_TO_PUMP_RPM_FACTOR       ( DOP_REV_PER_LITER / ML_PER_LITER )   ///< Conversion factor from mL/min to pump motor RPM.
 #define DOP_GEAR_RATIO                          32.0            ///< Pump motor to pump gear ratio.
 #define DOP_PWM_ZERO_OFFSET                     0.1             ///< 10% PWM duty cycle = zero speed.
@@ -151,6 +150,10 @@
 static OVERRIDE_F32_T dialOutPumpMCCurrentmA = { 0.0, 0.0, 0.0, 0 };                        ///< Measured dialysate outlet pump motor controller current.
 static OVERRIDE_F32_T dialOutPumpRotorSpeedRPM = { 0.0, 0.0, 0.0, 0 };                      ///< Measured dialysate outlet pump rotor speed.
 static OVERRIDE_F32_T dialOutPumpSpeedRPM = { 0.0, 0.0, 0.0, 0 };                           ///< Measured dialysate outlet pump motor speed.
+#if 1 // TODO - remove test code
+static F32 ufMeasuredRate = 0.0;
+static F32 prevMeasuredVolumes[2] = { 0.0, 0.0 };
+#endif
 
 static U32 dopControlTimerCounter = 0;                                                      ///< Timer counter to determine when to control dialysate outlet pump.
 static U32 dopCurrErrorDurationCtr = 0;                                                     ///< Timer counter for motor current error persistence.
@@ -515,7 +518,7 @@
         }
         else
         {   // Closed loop UF control is only controlling offset from DPi PWM
-            resetPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, (F32)( (S32)lastGivenRate - getTargetDialInFlowRate() ) * UF_PWM_DC_PCT_PER_ML_PER_MIN );
+            resetPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, dialOutPumpPWMDutyCyclePctSet - getDialInPumpPWMDutyCyclePct( TRUE ) );
         }
         dialOutPumpControlModeSet = dialOutPumpControlMode;
         setDialOutPumpControlSignalPWM( dialOutPumpPWMDutyCyclePctSet );
@@ -560,7 +563,7 @@
         }
         else
         {   // Closed loop UF control is only controlling offset from DPi PWM
-            resetPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, (F32)( (S32)lastGivenRate - getTargetDialInFlowRate() ) * UF_PWM_DC_PCT_PER_ML_PER_MIN );
+            resetPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, dialOutPumpPWMDutyCyclePctSet - getDialInPumpPWMDutyCyclePct( TRUE ) );
         }
         dialOutPumpControlModeSet = dialOutPumpControlMode;
         setDialOutPumpControlSignalPWM( dialOutPumpPWMDutyCyclePctSet );
@@ -598,10 +601,16 @@
             F32 totVol = getTotalMeasuredUFVolumeInMl();
             F32 offsetPWMDutyCyclePct;
 
+#if 1 // TODO - remove test code
+            ufMeasuredRate = ( totVol - prevMeasuredVolumes[1] ) * 6.0;  // calculate UF rate based on change in volume over last 10 seconds
+            prevMeasuredVolumes[1] = prevMeasuredVolumes[0];             // update last 2 volumes for next time
+            prevMeasuredVolumes[0] = totVol;
+#endif
+
             // Get new PWM offset from PI controller
             offsetPWMDutyCyclePct = runPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, refVol, totVol );
             // Add PWM offset to DPi PWM mirror for our new DPo PWM
-            dialOutPumpPWMDutyCyclePctSet = getDialInPumpPWMDutyCyclePct() + offsetPWMDutyCyclePct;
+            dialOutPumpPWMDutyCyclePctSet = getDialInPumpPWMDutyCyclePct( FALSE ) + offsetPWMDutyCyclePct;
             // Limit PWM range
             dialOutPumpPWMDutyCyclePctSet = MIN( dialOutPumpPWMDutyCyclePctSet, MAX_DIAL_OUT_PUMP_PWM_DUTY_CYCLE );
             dialOutPumpPWMDutyCyclePctSet = MAX( dialOutPumpPWMDutyCyclePctSet, MIN_DIAL_OUT_PUMP_PWM_DUTY_CYCLE );
@@ -703,12 +712,16 @@
         dialOutBroadCastVariables.refUFVolMl = getTotalTargetDialOutUFVolumeInMl();
         dialOutBroadCastVariables.measUFVolMl = getTotalMeasuredUFVolumeInMl();
         dialOutBroadCastVariables.measRotSpdRPM = getMeasuredDialOutPumpRotorSpeed();
+#if 1   // TODO - remove test code
+        dialOutBroadCastVariables.measSpdRPM = ufMeasuredRate;
+#else
         dialOutBroadCastVariables.measSpdRPM = getMeasuredDialOutPumpSpeed();
+#endif
         dialOutBroadCastVariables.measMCSpdRPM = getMeasuredDialOutPumpMCSpeed();
         dialOutBroadCastVariables.measMCCurrmA = getMeasuredDialOutPumpMCCurrent();
         dialOutBroadCastVariables.setPWMpct = dialOutPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR;
 
-        broadcastDialOutFlowData( &dialOutBroadCastVariables);
+        broadcastData( MSG_ID_DIALYSATE_OUT_FLOW_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&dialOutBroadCastVariables, sizeof( DIAL_OUT_FLOW_DATA_T ) );
         dialOutFlowDataPublicationTimerCounter = 0;
     }
 }