Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -rccfd15568f1e3d304320c2babb2fd4bcf0413304 -r3a480399e9fd87f51a12a469cc56242ebeb93539
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision ccfd15568f1e3d304320c2babb2fd4bcf0413304)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 3a480399e9fd87f51a12a469cc56242ebeb93539)
@@ -20,6 +20,7 @@
 #include "gio.h"
 
 #include "FPGA.h"
+#include "MessageSupport.h"
 #include "SafetyShutdown.h"
 #include "SystemCommMessages.h"
 #include "TaskPriority.h"
@@ -169,7 +170,8 @@
 {
     VALVE_POSITION_T commandedPosition;                         ///< Valve commanded position enum
     VALVE_POSITION_T currentPosition;                           ///< Valve current position enum
-    OVERRIDE_S32_T   currentPositionInCounts;                  ///< Valve current position in counts
+    VALVE_POSITION_T pendingCommandedPosition;                           ///< Valve pending position enum
+    OVERRIDE_S32_T   currentPositionInCounts;                   ///< Valve current position in counts
     S16              targetPositionInCounts;                    ///< Valve target position in counts
     BOOL             hasTransitionBeenRequested;                ///< Valve transition request flag
     VALVE_STATE_T    execState;                                 ///< Valve execution state
@@ -330,11 +332,11 @@
 
     // Valve not in position cannot be requested
     // All the other positions are valid
-    if ( position != VALVE_POSITION_NOT_IN_POSITION && valve < NUM_OF_VALVES )
+    if ( ( position != VALVE_POSITION_NOT_IN_POSITION ) && ( valve < NUM_OF_VALVES ) )
     {
-        valvesStatus[ valve ].commandedPosition = position;
+        //valvesStatus[ valve ].commandedPosition = position; TODO remove
+        valvesStatus[ valve ].pendingCommandedPosition   = position;
         valvesStatus[ valve ].hasTransitionBeenRequested = TRUE;
-
         result = TRUE;
     }
     else
@@ -720,7 +722,7 @@
                  // Set the current position to Position C and the commanded position to Position A
                  valvesStatus[ valve ].hasValveBeenHomed          = TRUE;
                  valvesStatus[ valve ].currentPosition            = VALVE_POSITION_C_CLOSE;
-                 valvesStatus[ valve ].commandedPosition          = VALVE_POSITION_A_INSERT_EJECT;
+                 valvesStatus[ valve ].pendingCommandedPosition   = VALVE_POSITION_A_INSERT_EJECT;
                  valvesStatus[ valve ].hasTransitionBeenRequested = TRUE;
                  valvesStatus[ valve ].hasHomingBeenRequested     = FALSE;
                  valvesStatus[ valve ].numberOfFailedHomings      = 0;
@@ -783,30 +785,27 @@
     }
 #endif
 
-    if ( valvesStatus[ valve ].hasHomingBeenRequested )
+    if ( TRUE == valvesStatus[ valve ].hasHomingBeenRequested )
     {
         state = VALVE_STATE_HOMING_NOT_STARTED;
     }
-    else if ( valvesStatus[ valve ].hasValveBeenHomed && valvesStatus[ valve ].hasTransitionBeenRequested )
+    else if ( ( TRUE == valvesStatus[ valve ].hasValveBeenHomed ) && ( TRUE == valvesStatus[ valve ].hasTransitionBeenRequested ) )
     {
-        if ( valvesStatus[ valve ].currentPosition != valvesStatus[ valve ].commandedPosition )
+        if ( valvesStatus[ valve ].currentPosition != valvesStatus[ valve ].pendingCommandedPosition )
         {
             // Just set the valves to transition so it will not be in a known position for a while
-            valvesStatus[ valve ].transitionStartTime = getMSTimerCount();
+            valvesStatus[ valve ].commandedPosition          = valvesStatus[ valve ].pendingCommandedPosition;
+            valvesStatus[ valve ].transitionStartTime        = getMSTimerCount();
+            valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
             setValveNextStep( valve, TRANSITION_STEP_CHANGE_IN_COUNTS );
 
             state = VALVE_STATE_IN_TRANSITION;
         }
-        else
-        {
-            valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
-        }
     }
 // This option is only available in a debug build
 #ifdef DEBUG_ENABLED
     // Check if the valves have been homed and a bypass mode has been requested
-    else if ( valvesStatus[ valve ].hasValveBeenHomed &&
-              valvesStatus[ valve ].bypassModeStatus.hasBypassModeBeenRequeseted )
+    else if ( ( TRUE == valvesStatus[ valve ].hasValveBeenHomed ) && ( TRUE == valvesStatus[ valve ].bypassModeStatus.hasBypassModeBeenRequeseted ) )
     {
         // Set the valve control mode to bypass and set the PWM
         setValveControlMode( valve, VALVE_CONTORL_MODE_ENABLE_BYPASS );
@@ -848,14 +847,14 @@
         // The valve is in range. Set the current position to the commanded position
         valvesStatus[ valve ].currentPosition = commandedPositionEnum;
         // Set the transition request to false as it has been serviced
-        valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
+        //valvesStatus[ valve ].hasTransitionBeenRequested = FALSE; TODO remove
 
         // If we are in Pos B, enable current relaxation
         if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
         {
             // Enable current relaxation
             setFPGAValveSetPoint( valve, currentPosition, TRUE );
-            valvesStatus[ valve ].hasTransitionBeenRequested = TRUE;
+            //valvesStatus[ valve ].hasTransitionBeenRequested = TRUE; TODO remove
         }
 
         // Go back to Idle state
@@ -864,14 +863,14 @@
     // Check if the valve's transition time has timed out
     else if ( didTimeout( valvesStatus[ valve ].transitionStartTime, VALVE_TRANSITION_TIMEOUT_MS ) )
     {
-        valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
+        //valvesStatus[ valve ].hasTransitionBeenRequested = FALSE; TODO remove
         // Go back to Idle state
         state = VALVE_STATE_IDLE;
 #ifndef DISABLE_VALVE_ALARMS
         SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT, (U32)valve );
 #endif
         // If the valve transition timeout is active and the valve's commanded positions is position C, activate safety shutdown
-        if ( isAlarmActive( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT ) && valvesStatus[ valve ].commandedPosition == VALVE_POSITION_C_CLOSE )
+        if ( ( TRUE == isAlarmActive( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT ) ) && ( VALVE_POSITION_C_CLOSE == valvesStatus[ valve ].commandedPosition ) )
         {
             activateSafetyShutdown();
             // Set the alarm
@@ -1237,8 +1236,10 @@
         valveData.pwm          = valvesStatus[ valve ].bypassModeStatus.currentPWMInPercent;
         valveData.airTrapValve = (U32)getValveAirTrapStatus();
 
-        broadcastHDValves( &valveData );
+        broadcastData( MSG_ID_HD_VALVES_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&valveData, sizeof( HD_VALVE_DATA_T ) );
 
+        //broadcastHDValves( &valveData ); //TODO remove
+
         valvesStatus[ valve ].dataPublishCounter = 0;
     }
 }