Index: firmware/App/Services/FPGA.c
===================================================================
diff -u -r9d81efee3ea73c452bb6b84501c8accf85ab81f7 -rd9b4581350e00e87b211b0c81f8c34f02576fcf2
--- firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 9d81efee3ea73c452bb6b84501c8accf85ab81f7)
+++ firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision d9b4581350e00e87b211b0c81f8c34f02576fcf2)
@@ -115,6 +115,7 @@
 #define PUMP_TRACK_SWITCH_MASK          0x0020                  ///< Pump track switch bit mask. Bit 5 of the GPIO register.
 
 #define PROCESSOR_FPGA_CLOCK_DIFF_TOLERANCE      1              ///< Tolerance for processor clock speed check against FPGA clock.
+#define FPGA_VALVES_MIN_PWM_MODE_COUNT  2500                    ///< FPGA valves minimum PWM in PWM mode in counts.
 
 // FPGA Sensors Record
 #pragma pack(push,1)
@@ -374,8 +375,15 @@
     memset( &fpgaHeader, 0, sizeof(FPGA_HEADER_T) );
     memset( &fpgaSensorReadings, 0, sizeof(FPGA_SENSORS_T) );
     memset( &fpgaActuatorSetPoints, 0, sizeof(FPGA_ACTUATORS_T) );
-    fpgaActuatorSetPoints.alarmControl = (U08)MIN_ALARM_VOLUME_ATTENUATION << 2;  // Start alarm audio volume at maximum
+    fpgaActuatorSetPoints.alarmControl = (U08)MIN_ALARM_VOLUME_ATTENUATION << 2; // Start alarm audio volume at maximum
 
+    // Set the HD valves fixed PWM mode to 2500, so if it was commanded to be in PWM mode rather than PID control
+    // the valves will not move to 0 position
+    fpgaActuatorSetPoints.VDiPWMFixed = FPGA_VALVES_MIN_PWM_MODE_COUNT;
+    fpgaActuatorSetPoints.VDoPWMFixed = FPGA_VALVES_MIN_PWM_MODE_COUNT;
+    fpgaActuatorSetPoints.VBAPWMFixed = FPGA_VALVES_MIN_PWM_MODE_COUNT;
+    fpgaActuatorSetPoints.VBVPWMFixed = FPGA_VALVES_MIN_PWM_MODE_COUNT;
+
     // Initialize fpga comm buffers
     memset( &fpgaWriteCmdBuffer, 0, FPGA_WRITE_CMD_BUFFER_LEN );
     memset( &fpgaReadCmdBuffer, 0, FPGA_READ_CMD_BUFFER_LEN );