Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r1a1aa235cfb5d13555d8cf943825cd99e36c97fb -r6b96f1a18ab2f93068daddbf24178fbbae7cc570
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 1a1aa235cfb5d13555d8cf943825cd99e36c97fb)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 6b96f1a18ab2f93068daddbf24178fbbae7cc570)
@@ -42,13 +42,13 @@
 
 #define MAX_SETTABLE_BLOOD_FLOW_RATE        700                                     ///< Maximum settable blood flow rate (in mL/min).
 
-#define BP_CONTROL_INTERVAL_SEC             10                                      ///< Blood pump control interval (in seconds).
+#define BP_CONTROL_INTERVAL_SEC             2                                       ///< Blood pump control interval (in seconds).
 
 /// Interval (ms/task time) at which the blood pump is controlled.
 static const U32 BP_CONTROL_INTERVAL      = ( BP_CONTROL_INTERVAL_SEC * MS_PER_SECOND / TASK_GENERAL_INTERVAL );
 
-#define BP_P_COEFFICIENT                    0.0001F                                 ///< P term for blood pump control
-#define BP_I_COEFFICIENT                    0.00075F                                ///< I term for blood pump control
+#define BP_P_COEFFICIENT                    0.5F                                    ///< P term for blood pump control
+#define BP_I_COEFFICIENT                    1.5F                                    ///< I term for blood pump control
 
 #define BP_HOME_SPEED                       400                                     ///< Target pump speed (in RPM) for homing.
 #define BP_HOME_TIMEOUT_MS                  ( 12 * MS_PER_SECOND )                  ///< Maximum time (in ms) allowed for homing to complete.
@@ -277,7 +277,6 @@
                 bloodPumpDirectionSet = dir;
                 bloodPumpControlMode = mode;
                 bloodPumpRampToSpeedRPM = BP_RPM_FROM_RATE( flowRate );
-                isBloodPumpOn = ( 0 == flowRate ? FALSE : isBloodPumpOn );
 
                 if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState )
                 {
@@ -361,7 +360,7 @@
 void signalBloodPumpHardStop( void )
 {
     targetBloodFlowRate = 0;
-    bloodPumpState = BLOOD_PUMP_OFF_STATE; // TODO SEAN: Are you changing the state directly here?
+    bloodPumpState = BLOOD_PUMP_OFF_STATE;
     bloodPumpSetSpeedRPM = 0;
     isBloodPumpOn = FALSE;
     bpControlTimerCounter = 0;
@@ -714,21 +713,14 @@
         {
             F32 tgtFlow = (F32)targetBloodFlowRate;
             F32 actFlow = getMeasuredBloodFlowRate();
-            F32 newRPM = bloodPumpSetSpeedRPM; // TODO - don't set speed here when control is implemented below.
+            F32 newRPM= runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow );
 
-            newRPM = runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow );
-            newRPM = ( newRPM < 0.0F ? 0.0F : newRPM );
             bloodPumpSetSpeedRPM = (U32)((S32)(newRPM));
             setPeristalticPumpSetSpeed( BP_SIGNED_SET_SPEED );
         }
         bpControlTimerCounter = 0;
     }
 
-    if ( FALSE == isBloodPumpOn )
-    {
-        result = BLOOD_PUMP_OFF_STATE;
-    }
-
     return result;
 }