Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rcc83f1a731c6e5d149bd2822dc0ae45463295c5a -rbfbe825bef1c8544c37c20bbeaf61c0c27356096
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision cc83f1a731c6e5d149bd2822dc0ae45463295c5a)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision bfbe825bef1c8544c37c20bbeaf61c0c27356096)
@@ -94,6 +94,9 @@
 #define BP_TORQUE_PERIOD_RESOLUTION_US      1.0F                                    ///< Blood pump torque period resolution in microseconds (1 us).
 #define BP_1KHZ_TO_TORQUE_CONVERSION_MNM    10.0F                                   ///< Blood pump 1kHz to torque conversion in milli-newtonmeter
 
+#define BP_ZERO_SPEED_THRESHOLD_RPM         0.01F                                   ///< Blood pump threshold in rpm
+#define BP_ZERO_FLOW_THRESHOLD_ML_MIN       0.01F                                   ///< Blood pump zero flow threshold in ml.
+
 /// Enumeration of blood pump controller states.
 typedef enum BloodPump_States
 {
@@ -519,8 +522,24 @@
 
     filterBloodPumpRPMReadings( getPeristalticPumpMeasSpeed() );
     bloodPumpSpeedRPM.data = filteredBloodPumpSpeed;
+
+    // Remove small floating point residuals when the pump is stopped.
+    if ( fabs( bloodPumpSpeedRPM.data ) < BP_ZERO_SPEED_THRESHOLD_RPM )
+    {
+        bloodPumpSpeedRPM.data = 0.0F;
+    }
     bloodPumpDirection = ( getMeasuredBloodPumpSpeed() < 0.0F ? MOTOR_DIR_REVERSE : MOTOR_DIR_FORWARD );
+
+    // Update calculated blood-flow rate.
     measuredBloodFlowRate.data = calcBloodFlow();
+
+    // Remove small floating-point residuals from calculated flow.
+    if ( fabs( measuredBloodFlowRate.data ) < BP_ZERO_FLOW_THRESHOLD_ML_MIN )
+    {
+        measuredBloodFlowRate.data = 0.0F;
+    }
+
+    // Update measured torque.
     bloodPumpTorquemNm.data = calcBloodPumpTorque();
 
     // Do not start enforcing checks until out of init/POST mode   TODO-add checks later
@@ -539,6 +558,7 @@
 //    }
 }
 
+
 /*********************************************************************//**
  * @brief
  * The execBloodFlowController function executes the blood flow controller.