Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rd6647f4f9a7965625fa77af14142188d528f83bb -rcc83f1a731c6e5d149bd2822dc0ae45463295c5a
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision d6647f4f9a7965625fa77af14142188d528f83bb)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision cc83f1a731c6e5d149bd2822dc0ae45463295c5a)
@@ -306,7 +306,13 @@
             {
                 resetBloodPumpRPMMovingAverage();
                 targetBloodFlowRate = dirFlowRate;
-                bloodPumpDirectionSet = dir;
+
+                // This is for Preserving the current direction while ramping down to a stop. A zero request does not represent a new direction.
+                if ( flowRate != 0 )
+                {
+                    bloodPumpDirectionSet = dir;
+                }
+
                 bloodPumpControlMode = mode;
                 bloodPumpRampToSpeedRPM = BP_RPM_FROM_RATE( flowRate );
 
@@ -1040,6 +1046,12 @@
         F32 frequencyHz        = 1.0F / torqueResolutionS;
         F32 frequencyKHz       = frequencyHz / (F32)HZ_PER_KHZ;
         torquemNm              = frequencyKHz * BP_1KHZ_TO_TORQUE_CONVERSION_MNM;
+
+        // This FPGA torque count provides torque magnitude only and applies the measured H4 speed direction to the reported torque.
+        if( getPeristalticPumpMeasSpeed() < 0.0F )
+        {
+            torquemNm *= -1.0F;
+        }
     }
 
     return torquemNm;