Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -rb1c2d54d3d029ab1340d91193a7a4c81db8ba29d -r71e5d8968b369a4e94f65a40171f648f442b8f80
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision b1c2d54d3d029ab1340d91193a7a4c81db8ba29d)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 71e5d8968b369a4e94f65a40171f648f442b8f80)
@@ -68,7 +68,7 @@
 #define AIR_TRAP_VALVE_GPIO_PIN                 0x12                                                    ///< Air trap valve GPIO pin number
 
 #define HOMING_STEP_CHANGE_IN_COUNTS            1000                                                    ///< Step change in counts during homing
-#define TRANSITION_STEP_CHANGE_IN_COUNTS        13000                                                   ///< Step change in counts during normal operations
+#define TRANSITION_STEP_CHANGE_IN_COUNTS        15000                                                   ///< Step change in counts during normal operations
 
 #define MAX_DEVIATION_FROM_TARGET_IN_COUNTS     150                                                     ///< Maximum deviation from target in counts
 #define MAX_ALLOWED_FAILED_HOMINGS              3U                                                      ///< Maximum allowed failed homings
@@ -759,7 +759,7 @@
         state = VALVE_STATE_IDLE;
         SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT, (U32)valve );
     }
-    else if ( currentPosition - targetPosition > MAX_DEVIATION_FROM_TARGET_IN_COUNTS )
+    else if ( abs( currentPosition - targetPosition ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS )
     {
         setValveNextStep( valve, TRANSITION_STEP_CHANGE_IN_COUNTS );
     }
@@ -789,9 +789,7 @@
         valvesStatus[ valve ].controlMode = VALVE_CONTROL_MODE_ENABLE_PID;
 
         // Request a change of position to get back to the last known position in PID mode
-        // It is assumed that the valve is currently in a unknown position and it is commanded
-        // to go back Position A
-        valvesStatus[ valve ].currentPosition = VALVE_POSITION_NOT_IN_POSITION;
+        // Go back to Pos A
         valvesStatus[ valve ].commandedPosition = VALVE_POSITION_A_INSERT_EJECT;
         valvesStatus[ valve ].hasTransitionBeenRequested = TRUE;