Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r29e57b5232f605a871c62580e16a7db297aae992 -r0d8381c50f7189c4cfbc2794a4aedf297eea7d15
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 29e57b5232f605a871c62580e16a7db297aae992)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 0d8381c50f7189c4cfbc2794a4aedf297eea7d15)
@@ -907,9 +907,9 @@
     {
         U16 bpMotorHallSensorCount = getFPGABloodPumpHallSensorCount();
         U32 nextIdx = INC_WRAP( bpMotorSpeedCalcIdx, 0, BP_SPEED_CALC_BUFFER__LEN - 1 );
-        U16 incDelta = ( bpMotorHallSensorCount >= bpLastMotorHallSensorCounts[ bpMotorSpeedCalcIdx ] ? \
-                         bpMotorHallSensorCount - bpLastMotorHallSensorCounts[ bpMotorSpeedCalcIdx ] : \
-                         ( HEX_64_K - bpLastMotorHallSensorCounts[ bpMotorSpeedCalcIdx ] ) + bpMotorHallSensorCount );
+        U16 incDelta = ( bpMotorHallSensorCount >= bpLastMotorHallSensorCounts[ nextIdx ] ? \
+                         bpMotorHallSensorCount - bpLastMotorHallSensorCounts[ nextIdx ] : \
+                         ( HEX_64_K - bpLastMotorHallSensorCounts[ nextIdx ] ) + bpMotorHallSensorCount );
         U16 decDelta = HEX_64_K - incDelta;
         U16 delta;
 
Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -r29e57b5232f605a871c62580e16a7db297aae992 -r0d8381c50f7189c4cfbc2794a4aedf297eea7d15
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 29e57b5232f605a871c62580e16a7db297aae992)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 0d8381c50f7189c4cfbc2794a4aedf297eea7d15)
@@ -886,9 +886,9 @@
     {
         U16 dipMotorHallSensorCount = getFPGADialInPumpHallSensorCount();
         U32 nextIdx = INC_WRAP( dipMotorSpeedCalcIdx, 0, DIP_SPEED_CALC_BUFFER__LEN - 1 );
-        U16 incDelta = ( dipMotorHallSensorCount >= dipLastMotorHallSensorCounts[ dipMotorSpeedCalcIdx ] ? \
-                         dipMotorHallSensorCount - dipLastMotorHallSensorCounts[ dipMotorSpeedCalcIdx ] : \
-                         ( HEX_64_K - dipLastMotorHallSensorCounts[ dipMotorSpeedCalcIdx ] ) + dipMotorHallSensorCount );
+        U16 incDelta = ( dipMotorHallSensorCount >= dipLastMotorHallSensorCounts[ nextIdx ] ? \
+                         dipMotorHallSensorCount - dipLastMotorHallSensorCounts[ nextIdx ] : \
+                         ( HEX_64_K - dipLastMotorHallSensorCounts[ nextIdx ] ) + dipMotorHallSensorCount );
         U16 decDelta = HEX_64_K - incDelta;
         U16 delta;
 
Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r29e57b5232f605a871c62580e16a7db297aae992 -r0d8381c50f7189c4cfbc2794a4aedf297eea7d15
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 29e57b5232f605a871c62580e16a7db297aae992)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 0d8381c50f7189c4cfbc2794a4aedf297eea7d15)
@@ -752,9 +752,9 @@
     {
         U16 dopMotorHallSensorCount = getFPGADialOutPumpHallSensorCount();
         U32 nextIdx = INC_WRAP( dopMotorSpeedCalcIdx, 0, DOP_SPEED_CALC_BUFFER__LEN - 1 );
-        U16 incDelta = ( dopMotorHallSensorCount >= dopLastMotorHallSensorCounts[ dopMotorSpeedCalcIdx ] ? \
-                         dopMotorHallSensorCount - dopLastMotorHallSensorCounts[ dopMotorSpeedCalcIdx ] : \
-                         ( HEX_64_K - dopLastMotorHallSensorCounts[ dopMotorSpeedCalcIdx ] ) + dopMotorHallSensorCount );
+        U16 incDelta = ( dopMotorHallSensorCount >= dopLastMotorHallSensorCounts[ nextIdx ] ? \
+                         dopMotorHallSensorCount - dopLastMotorHallSensorCounts[ nextIdx ] : \
+                         ( HEX_64_K - dopLastMotorHallSensorCounts[ nextIdx ] ) + dopMotorHallSensorCount );
         U16 decDelta = HEX_64_K - incDelta;
         U16 delta;
 
Index: firmware/App/Modes/OperationModes.c
===================================================================
diff -u -rd91a24c730aeb5cd7e3eba9ef4eca78e442911f8 -r0d8381c50f7189c4cfbc2794a4aedf297eea7d15
--- firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision d91a24c730aeb5cd7e3eba9ef4eca78e442911f8)
+++ firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision 0d8381c50f7189c4cfbc2794a4aedf297eea7d15)
@@ -43,6 +43,7 @@
 // ********** private data **********
 
 static volatile BOOL modeRequest[ NUM_OF_MODES - 1 ];       ///< Pending operation mode change requests.
+static HD_OP_MODE_T lastMode = MODE_INIT;                   ///< Last operation mode prior to current mode.
 static HD_OP_MODE_T currentMode = MODE_INIT;                ///< Current operation mode.
 static U32 currentSubMode = 0;                              ///< The currently active state of the active mode.
 static U32 broadcastModeIntervalCtr = 11;                   ///< Interval counter used to determine when to broadcast operation mode.  Initialize to 11 to stagger broadcast.
@@ -126,6 +127,7 @@
     if ( currentMode != newMode )
     {
         // handle transition to new mode
+        lastMode = currentMode;
         transitionToNewOperationMode( newMode );
         currentMode = newMode;
     }
@@ -314,4 +316,26 @@
     }
 }
 
+/*********************************************************************//**
+ * @brief
+ * The testRestorePriorModeFromFault function restores the operation mode
+ * to its prior mode if currently in fault mode.
+ * This is a test function and requires a tester be logged into the HD.
+ * @details Inputs: lastMode
+ * @details Outputs: currentMode.
+ * @return none
+ *************************************************************************/
+void testRestorePriorModeFromFault( void )
+{
+    // verify tester has logged in with HD
+    if ( TRUE == isTestingActivated() )
+    {
+        // if in fault mode, go back to prior mode
+        if ( MODE_FAUL == currentMode )
+        {
+            currentMode = lastMode;
+        }
+    }
+}
+
 /**@}*/
Index: firmware/App/Modes/OperationModes.h
===================================================================
diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -r0d8381c50f7189c4cfbc2794a4aedf297eea7d15
--- firmware/App/Modes/OperationModes.h	(.../OperationModes.h)	(revision de5a0d43bdef611d963d11855bc958a8d8899a09)
+++ firmware/App/Modes/OperationModes.h	(.../OperationModes.h)	(revision 0d8381c50f7189c4cfbc2794a4aedf297eea7d15)
@@ -36,8 +36,10 @@
 void initOperationModes( void );                        // initialize this module
 void execOperationModes( void );                        // execute the operation modes state machine (scheduled periodic call)
 void requestNewOperationMode( HD_OP_MODE_T newMode );   // request a transition to a new operation mode
-HD_OP_MODE_T getCurrentOperationMode( void );                // get the current operation mode
+HD_OP_MODE_T getCurrentOperationMode( void );           // get the current operation mode
 
+void testRestorePriorModeFromFault( void );             // test function called when Dialin is clearing a fault
+
 /**@}*/
 
 #endif
Index: firmware/App/Services/AlarmMgmt.c
===================================================================
diff -u -r29e57b5232f605a871c62580e16a7db297aae992 -r0d8381c50f7189c4cfbc2794a4aedf297eea7d15
--- firmware/App/Services/AlarmMgmt.c	(.../AlarmMgmt.c)	(revision 29e57b5232f605a871c62580e16a7db297aae992)
+++ firmware/App/Services/AlarmMgmt.c	(.../AlarmMgmt.c)	(revision 0d8381c50f7189c4cfbc2794a4aedf297eea7d15)
@@ -19,7 +19,6 @@
 
 #include "AlarmLamp.h"
 #include "OperationModes.h"
-#include "SafetyShutdown.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
 #include "Timers.h"
@@ -1045,12 +1044,11 @@
                     }
                 }
             }
-
+            // if we're in fault mode, go back to prior mode
+            testRestorePriorModeFromFault();
             result = TRUE;
         }
     }
-    // in case any previously active alarms had pulled safety shutdown, release safety
-    testResetSafetyShutdownOverride();
 
     return result;
 }