Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r921034ee7092206a50183eacfaa73b436d2dee5f -refb6fa9d4d14c9eb37985516746adf21563c3be5
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 921034ee7092206a50183eacfaa73b436d2dee5f)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision efb6fa9d4d14c9eb37985516746adf21563c3be5)
@@ -88,6 +88,7 @@
 #define TEN_PCT_OVER_ALLOWANCE                        1.1F                                  ///< Allow 10 percent over target before alarming on over travel.
 #define FIVE_PCT_OVER_ALLOWANCE                       1.05F                                 ///< Allow 5 percent over target before alarming on over travel.
 #define SYRINGE_PUMP_DAC_VOLTAGE_MAX_ERROR            0.05F                                 ///< Force sensor POST check for DAC voltage - max delta.
+#define MIN_SYRINGE_PUMP_RATE_FOR_DIR_ALARM           0.5F                                  ///< Minimum measured rate (in mL/hr) required before enforcing direction alarm.
 
 /// Expected position of empty in relation to home position.
 #define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 10.84F )
@@ -1602,15 +1603,24 @@
     if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
 #endif
     {
-        if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, ( syringePumpEncoderMeasuredDirection != expDir ) ) )
+        // Check direction if rate >= minimum for alarm
+        if ( getSyringePumpMeasRate() >= MIN_SYRINGE_PUMP_RATE_FOR_DIR_ALARM )
         {
-            result = TRUE;
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, (U32)syringePumpEncoderMeasuredDirection, (U32)syringePumpState );
+            if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, ( syringePumpEncoderMeasuredDirection != expDir ) ) )
+            {
+                result = TRUE;
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, (U32)syringePumpEncoderMeasuredDirection, (U32)syringePumpState );
+            }
+            if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, ( syringePumpControllerMeasuredDirection != expDir ) ) )
+            {
+                result = TRUE;
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, (U32)syringePumpControllerMeasuredDirection, (U32)syringePumpState );
+            }
         }
-        if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, ( syringePumpControllerMeasuredDirection != expDir ) ) )
+        else
         {
-            result = TRUE;
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, (U32)syringePumpControllerMeasuredDirection, (U32)syringePumpState );
+            isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, FALSE );
+            isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, FALSE );
         }
     }