Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -rc9b434898a8bbe9143b243627ea081e5e0f7a861 -r8ac6dbd310f7408760e5cad232b1e9834882f739
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision c9b434898a8bbe9143b243627ea081e5e0f7a861)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 8ac6dbd310f7408760e5cad232b1e9834882f739)
@@ -863,7 +863,7 @@
         if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
         {
             // Enable current relaxation
-            setFPGAValveSetPoint( valve, currentPosition, TRUE );
+            setFPGAValveSetPoint( valve, targetPosition, TRUE );
         }
 
         // Go back to Idle state
@@ -1290,22 +1290,22 @@
             // Subtract the defined number of steps for the next transition
             if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
             {
-                valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) + nextStep;
+                valvesStatus[ valve ].targetPositionInCounts = currentPosition + nextStep;
             }
             if ( commandedPositionEnum == VALVE_POSITION_C_CLOSE )
             {
-                valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) - nextStep;
+                valvesStatus[ valve ].targetPositionInCounts = currentPosition - nextStep;
             }
             break;
 
         case VALVE_POSITION_B_OPEN:
             // If the valve is currently in position B, subtract the defined number of steps for the next transition
-            valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) - nextStep;
+            valvesStatus[ valve ].targetPositionInCounts = currentPosition - nextStep;
             break;
 
         case VALVE_POSITION_C_CLOSE:
             // If the valve is currently in position C, add the defined number of steps for the next transition
-            valvesStatus[ valve ].targetPositionInCounts = getValvePositionCounts( valve ) + nextStep;
+            valvesStatus[ valve ].targetPositionInCounts = currentPosition + nextStep;
             break;
 
         default:
Index: firmware/App/Controllers/Voltages.c
===================================================================
diff -u -r37a9fd8f15e413db5337371a7d1a1cb65567af7c -r8ac6dbd310f7408760e5cad232b1e9834882f739
--- firmware/App/Controllers/Voltages.c	(.../Voltages.c)	(revision 37a9fd8f15e413db5337371a7d1a1cb65567af7c)
+++ firmware/App/Controllers/Voltages.c	(.../Voltages.c)	(revision 8ac6dbd310f7408760e5cad232b1e9834882f739)
@@ -17,7 +17,8 @@
 
 #include "AlarmMgmt.h"
 #include "FPGA.h"
-#include "InternalADC.h"
+#include "InternalADC.h"
+#include "PersistentAlarm.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
 #include "Timers.h"
@@ -30,8 +31,10 @@
 
 // ********** private definitions **********
 
-#define VOLTAGES_DATA_PUB_INTERVAL          ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )       ///< Interval (ms/task time) at which the voltages data is published on the CAN bus.
-#define VOLTAGES_ALARM_PERSISTENCE          ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )       ///< Alarm persistence period for voltage monitor alarms.
+#define VOLTAGES_DATA_PUB_INTERVAL          ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )       ///< Interval (ms/task time) at which the voltages data is published on the CAN bus.
+#define VOLTAGES_ALARM_PERSISTENCE_MS       ( 1 * MS_PER_SECOND )                           ///< Alarm persistence period for voltage monitor alarms in milliseconds.
+#define POWER_LOSS_VOLTAGE_PERSISTENCE_MS   ( 0.15 * MS_PER_SECOND )                        ///< Power supply voltage out of range persistence in milliseconds.
+#define POWER_LOSS_VOLTAGE_THRESHOLD_V      1.0F                                            ///< Power loss voltage threshold
 #define DATA_PUBLISH_COUNTER_START_COUNT    14                                              ///< Data publish counter start count.
 
 /// Defined states for the voltage monitor state machine.
@@ -111,9 +114,11 @@
         voltages[i].ovData = 0.0;
         voltages[i].ovInitData = 0.0;
         voltages[i].override = OVERRIDE_RESET;
-
         voltageAlarmPersistenceCtr[i] = 0;
-    }
+    }
+
+    initPersistentAlarm( ALARM_ID_HD_VOLTAGE_OUT_OF_RANGE, VOLTAGES_ALARM_PERSISTENCE_MS, VOLTAGES_ALARM_PERSISTENCE_MS );
+    initPersistentAlarm( ALARM_ID_HD_AC_POWER_LOST, POWER_LOSS_VOLTAGE_PERSISTENCE_MS, POWER_LOSS_VOLTAGE_PERSISTENCE_MS );
 }
 
 /*********************************************************************//**
@@ -202,16 +207,28 @@
 static void checkVoltageRanges( void )
 {
     U32 i;
+    BOOL hasPowerBeenLost = FALSE;
 
     // Check range
     for ( i = 0; i < NUM_OF_MONITORED_LINES; i++ )
     {
-        F32 volts = getMonitoredLineLevel( (MONITORED_VOLTAGES_T)i );
+        F32 volts                = getMonitoredLineLevel( (MONITORED_VOLTAGES_T)i );
+        BOOL isVoltageOutOfRange = ( ( volts > MAX_VOLTAGES[ i ] ) || ( volts < MIN_VOLTAGES[ i ] ) ? TRUE : FALSE );
 
-        if ( volts > MAX_VOLTAGES[ i ] )
+#ifndef _RELEASE_
+        if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_VOLTAGES_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
+#endif
         {
-            if ( ++voltageAlarmPersistenceCtr[ i ] >= VOLTAGES_ALARM_PERSISTENCE )
+            if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_VOLTAGE_OUT_OF_RANGE, isVoltageOutOfRange ) )
             {
+                SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_VOLTAGE_OUT_OF_RANGE, i, isVoltageOutOfRange );
+            }
+        }
+
+        /*if ( volts > MAX_VOLTAGES[ i ] )
+        {
+            if ( ++voltageAlarmPersistenceCtr[ i ] >= VOLTAGES_ALARM_PERSISTENCE_MS )
+            {
 #ifndef _RELEASE_
                 if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_VOLTAGES_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
 #endif
@@ -222,8 +239,15 @@
         }
         else if ( volts < MIN_VOLTAGES[ i ] )
         {
-            if ( ++voltageAlarmPersistenceCtr[ i ] >= VOLTAGES_ALARM_PERSISTENCE )
+            BOOL isAlarmValid = TRUE;
+
+            if ( ( ( MONITORED_LINE_24V == i ) || ( MONITORED_LINE_24V_REGEN == i ) ) && ( TRUE == isAlarmActive( ALARM_ID_HD_AC_POWER_LOST ) ) )
             {
+                isAlarmValid = FALSE;
+            }
+
+            if ( ++voltageAlarmPersistenceCtr[ i ] >= VOLTAGES_ALARM_PERSISTENCE_MS )
+            {
 #ifndef _RELEASE_
                 if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_VOLTAGES_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
 #endif
@@ -235,8 +259,19 @@
         else
         {
             voltageAlarmPersistenceCtr[ i ] = 0;
-        }
+        }*/
     }
+
+    if ( ( getMonitoredLineLevel( MONITORED_LINE_24V ) < POWER_LOSS_VOLTAGE_THRESHOLD_V ) ||
+         ( getMonitoredLineLevel( MONITORED_LINE_24V_REGEN ) < POWER_LOSS_VOLTAGE_THRESHOLD_V ) )
+    {
+        hasPowerBeenLost = TRUE;
+    }
+
+    if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_AC_POWER_LOST, hasPowerBeenLost ) )
+    {
+        activateAlarmNoData( ALARM_ID_HD_AC_POWER_LOST );
+    }
 }
 
 /*********************************************************************//**
Index: firmware/App/HDCommon.h
===================================================================
diff -u -r6c8f578be87fc6d9534d27e15973cd1ef4367449 -r8ac6dbd310f7408760e5cad232b1e9834882f739
--- firmware/App/HDCommon.h	(.../HDCommon.h)	(revision 6c8f578be87fc6d9534d27e15973cd1ef4367449)
+++ firmware/App/HDCommon.h	(.../HDCommon.h)	(revision 8ac6dbd310f7408760e5cad232b1e9834882f739)
@@ -38,7 +38,7 @@
 //    #define RUN_WITHOUT_DG                  1           // Run HD w/o DG
 //    #define SIMULATE_UI                     1           // Build w/o requirement that UI be there
 //    #define TASK_TIMING_OUTPUT_ENABLED      1           // Re-purposes alarm lamp pins for task timing
-      #define DISABLE_BATT_COMM               1           // Disable battery communication
+//      #define DISABLE_BATT_COMM               1           // Disable battery communication  // TODO soft switch
 //    #define READ_FPGA_ASYNC_DATA            1           // Test build reads non-priority register page every other time
 //    #define DISABLE_FPGA_COUNTER_CHECKS     1           // Disable alarms associated with FPGA read/error counters
 //    #define EMC_TEST_BUILD                  1           // EMC test build - HD/DG run separately but connected, HD pumps toggle on/off w/ stop button