Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -reb75e7807c5e85481f1447a3dfebf11db16d8259 -r323f79ab9cd2a2b912b97b804aa2f07b6ea92693
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision eb75e7807c5e85481f1447a3dfebf11db16d8259)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 323f79ab9cd2a2b912b97b804aa2f07b6ea92693)
@@ -16,6 +16,7 @@
 ***************************************************************************/
 
 #include <math.h>       // Used for fabs() functions
+#include <string.h>     // Used for memset()
 
 #include "BloodFlow.h"
 #include "CpldInterface.h"
@@ -86,10 +87,9 @@
 
 #define DATA_PUBLISH_COUNTER_START_COUNT    20                                      ///< Data publish counter start count.
 
-#define MAX_BP_SPEED_FILTER_SAMPLES         600                                     ///< Max MA samples (50 ms ticks); 600 = 30 s span at 50 mL/min.
-#define BP_SPEED_FILTER_TIME_FLOW_PRODUCT   1500                                    ///< s*mL/min; filter duration T = PRODUCT / |Q| (e.g. 2.5 s @ 600, 5 s @ 300).
-#define BP_SPEED_FILTER_DEFAULT_SAMPLES     20                                      ///< MA samples when target flow is zero (~1 s @ 50 ms).
-#define BP_SPEED_FILTER_MIN_SAMPLES         5                                       ///< Minimum MA window (samples).
+#define BP_SPEED_FILTER_TIME_FLOW_PRODUCT   1500                                    ///< s*mL/min; filter duration T = PRODUCT / |Qb| (e.g. 2.5 sec @ 600, 3 sec @ 500, 5 sec @ 300).
+#define MAX_BP_SPEED_FILTER_SAMPLES         ( ( BP_SPEED_FILTER_TIME_FLOW_PRODUCT / 50 ) * (MS_PER_SECOND / TASK_GENERAL_INTERVAL) ) ///< Max MA samples at Qb_min=50 mL/min: Nmax = (1500/50)*20 = 600.
+#define BP_SPEED_FILTER_DEFAULT_SAMPLES     20                                      ///< MA samples when target flow is zero: 20 samples at 1 sec.
 
 #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
@@ -250,10 +250,7 @@
     bpMaxRotorCountForWear.override = OVERRIDE_RESET;
 
     // Initialize pump speed filter
-    for ( i = 0; i < MAX_BP_SPEED_FILTER_SAMPLES; i++ )
-    {
-        rpmReadings[ i ] = 0.0F;
-    }
+    memset( rpmReadings, 0, sizeof( rpmReadings ) );
     resetBloodPumpRPMMovingAverage();
 
     // Reset pump rotor count
@@ -956,53 +953,46 @@
 /*********************************************************************//**
  * @brief
  * The calcBpSpeedFilterWindowSamples function computes how many general-task
- * samples to use for the blood pump motor speed moving average.  Let Q be the
- * magnitude of target blood flow (mL/min).  Averaging duration T (seconds) is
- * BP_SPEED_FILTER_TIME_FLOW_PRODUCT / Q.  Sample count N is round( T times
- * MS_PER_SECOND / TASK_GENERAL_INTERVAL ), clamped to BP_SPEED_FILTER_MIN_SAMPLES
- * through MAX_BP_SPEED_FILTER_SAMPLES.  If target blood flow is zero, N is
- * BP_SPEED_FILTER_DEFAULT_SAMPLES.
- * @details \b Inputs: targetBloodFlowRate, MAX_SETTABLE_BLOOD_FLOW_RATE,
- * BP_SPEED_FILTER_TIME_FLOW_PRODUCT, MS_PER_SECOND, TASK_GENERAL_INTERVAL,
+ * samples to use for the blood pump motor speed moving average based on the
+ * commanded blood flow rate (Qb).
+ * @details \b Inputs: targetBloodFlowRate (Qb), MAX_SETTABLE_BLOOD_FLOW_RATE,
+ * BP_SPEED_FILTER_TIME_FLOW_PRODUCT, TASK_GENERAL_INTERVAL,
  * BP_SPEED_FILTER_MIN_SAMPLES, BP_SPEED_FILTER_DEFAULT_SAMPLES,
  * MAX_BP_SPEED_FILTER_SAMPLES
  * @details \b Outputs: none
  * @return moving-average window size in samples
  *************************************************************************/
 static U32 calcBpSpeedFilterWindowSamples( void )
 {
-    U32 absFlowU32;
-    F32 tFilterSec;
-    F32 windowSamplesF;
-    U32 windowSamples;
+    U32 absFlowU32     = 0;
+    F32 tFilterSec     = 0.0F;
+    F32 windowSamplesF = 0.0F;
+    U32 windowSamples  = 0;
 
-    if ( 0 == targetBloodFlowRate )
+    if ( 0 != targetBloodFlowRate )
     {
-        return BP_SPEED_FILTER_DEFAULT_SAMPLES;
-    }
+        absFlowU32 = ( targetBloodFlowRate >= 0 ) ? (U32)targetBloodFlowRate : (U32)( -targetBloodFlowRate );
+        if ( 0 != absFlowU32 )
+        {
+            if ( absFlowU32 > (U32)MAX_SETTABLE_BLOOD_FLOW_RATE )
+            {
+                absFlowU32 = (U32)MAX_SETTABLE_BLOOD_FLOW_RATE;
+            }
 
-    absFlowU32 = ( targetBloodFlowRate >= 0 ) ? (U32)targetBloodFlowRate : (U32)( -targetBloodFlowRate );
-    if ( 0U == absFlowU32 )
-    {
-        return BP_SPEED_FILTER_DEFAULT_SAMPLES;
-    }
-    if ( absFlowU32 > (U32)MAX_SETTABLE_BLOOD_FLOW_RATE )
-    {
-        absFlowU32 = (U32)MAX_SETTABLE_BLOOD_FLOW_RATE;
-    }
+            tFilterSec = (F32)BP_SPEED_FILTER_TIME_FLOW_PRODUCT / (F32)absFlowU32;
+            windowSamplesF = ( tFilterSec * (F32)MS_PER_SECOND / (F32)TASK_GENERAL_INTERVAL ) + 0.5F;
+            windowSamples = (U32)windowSamplesF;
 
-    tFilterSec = (F32)BP_SPEED_FILTER_TIME_FLOW_PRODUCT / (F32)absFlowU32;
-    windowSamplesF = ( tFilterSec * (F32)MS_PER_SECOND / (F32)TASK_GENERAL_INTERVAL ) + 0.5F;
-    windowSamples = (U32)windowSamplesF;
-
-    if ( windowSamples < BP_SPEED_FILTER_MIN_SAMPLES )
-    {
-        windowSamples = BP_SPEED_FILTER_MIN_SAMPLES;
+            if ( windowSamples < BP_SPEED_FILTER_DEFAULT_SAMPLES )
+            {
+                windowSamples = BP_SPEED_FILTER_DEFAULT_SAMPLES;
+            }
+            if ( windowSamples > (U32)MAX_BP_SPEED_FILTER_SAMPLES )
+            {
+                windowSamples = (U32)MAX_BP_SPEED_FILTER_SAMPLES;
+            }
+        }
     }
-    if ( windowSamples > (U32)MAX_BP_SPEED_FILTER_SAMPLES )
-    {
-        windowSamples = (U32)MAX_BP_SPEED_FILTER_SAMPLES;
-    }
 
     return windowSamples;
 }
@@ -1023,10 +1013,7 @@
 
     if ( filterWindowSamples != rpmFilterActiveWindow )
     {
-        rpmReadingsIdx = 0;
-        rpmReadingsCount = 0;
-        rpmReadingsTotal = 0.0F;
-        filteredBloodPumpSpeed = 0.0F;
+        resetBloodPumpRPMMovingAverage();
         rpmFilterActiveWindow = filterWindowSamples;
     }