Index: firmware/App/Controllers/Ejector.c
===================================================================
diff -u -r2d40deb50ffb27667c3e57f427b1e197e163910e -re130387b9e8ed54237a6e4c3020222060c2be5a9
--- firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision 2d40deb50ffb27667c3e57f427b1e197e163910e)
+++ firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision e130387b9e8ed54237a6e4c3020222060c2be5a9)
@@ -60,18 +60,19 @@
 static BOOL ejectorHomeRequested;                                                               ///< Flag indicating that ejector home operation is requested.
 static BOOL ejectorRetractRequested;                                                            ///< Flag indicating that ejector retract operation is requested.
 static BOOL ejectorExtendRequested;                                                             ///< Flag indicating that ejector extend operation is requested.
+static BOOL ejectorAbortRequested;                                                              ///< Flag indicating that ejector abort operation in requested.
 
 // ********** private function prototypes **********
 
 static EJECTOR_STATE_T handleEjectorStartState( void );
 static EJECTOR_STATE_T handleEjectorHomingState( void );
-static EJECTOR_STATE_T handleEjectorRetractedState ( void );
-static EJECTOR_STATE_T handleEjectorExtendedState ( void );
-static EJECTOR_STATE_T handleEjectorRetractingState ( void );
-static EJECTOR_STATE_T handleEjectorExtendingState ( void );
+static EJECTOR_STATE_T handleEjectorRetractedState( void );
+static EJECTOR_STATE_T handleEjectorExtendedState( void );
+static EJECTOR_STATE_T handleEjectorRetractingState( void );
+static EJECTOR_STATE_T handleEjectorExtendingState( void );
 static EJECTOR_STATE_T handleEjectorRetractBackoffState( void );
 static EJECTOR_STATE_T handleEjectorDirChangeStopState( void );
-static void setEjectorSpeed( F32 speed );
+static EJECTOR_STATE_T handleEjectorAbortState( void );
 static void resetEjectorFlags( void );
 static void publishEjectorData( void );
 
@@ -104,14 +105,15 @@
  * The resetEjectorFlags function resets the ejector flags to FALSE.
  * @details \b Inputs: none
  * @details \b Outputs: ejectorHomeRequested, ejectorRetractRequested,
- * ejectorExtendRequested
+ * ejectorExtendRequested, ejectorAbortRequested
  * @return none
  *************************************************************************/
 static void resetEjectorFlags( void )
 {
     ejectorHomeRequested = FALSE;
     ejectorRetractRequested = FALSE;
     ejectorExtendRequested = FALSE;
+    ejectorAbortRequested = FALSE;
 }
 
 /*********************************************************************//**
@@ -194,6 +196,20 @@
 
 /*********************************************************************//**
  * @brief
+ * The abortEjectorOperation function requests an ejector abort operation.
+ * @details \b Inputs: none
+ * @details \b Outputs: ejectorAbortRequested
+ * @return none
+ *************************************************************************/
+void abortEjectorOperation( void )
+{
+    setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
+    // Set the flag to TRUE regardless of where the ejector is at
+    ejectorAbortRequested = TRUE;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getEjectorState function returns the current ejector control state machine.
  * @details \b Inputs: currentEjectorState
  * @details \b Outputs: none
@@ -214,6 +230,12 @@
  *************************************************************************/
 void execEjectorController( void )
 {
+    if ( TRUE == ejectorAbortRequested )
+    {
+        // If abort has been called, set it to abort state no matter where we are at.
+        currentEjectorState = EJECTOR_STATE_ABORT;
+    }
+
     switch( currentEjectorState )
     {
         case EJECTOR_STATE_INIT:
@@ -248,6 +270,10 @@
             currentEjectorState = handleEjectorDirChangeStopState();
             break;
 
+        case EJECTOR_STATE_ABORT:
+            currentEjectorState = handleEjectorAbortState();
+            break;
+
         default:
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_EJECTOR_INVALID_STATE, (U32)currentEjectorState )
             break;
@@ -449,6 +475,28 @@
 
 /*********************************************************************//**
  * @brief
+ * The handleEjectorAbortState function handles the abort state of the
+ * ejector control state machine.
+ * @details \b Inputs: ejectorOperationTimerCounter, ejectorHomeRequested
+ * @details \b Outputs: ejectorOperationTimerCounter
+ * @return next state of the ejector control state machine
+ *************************************************************************/
+static EJECTOR_STATE_T handleEjectorAbortState( void )
+{
+    EJECTOR_STATE_T state = EJECTOR_STATE_ABORT;
+
+    if ( TRUE == ejectorHomeRequested )
+    {
+        ejectorOperationTimerCounter = 0;
+        setEjectorMotorSpeed( EJECTOR_RETRACT_MOTOR_SPEED_RPM );
+        state = EJECTOR_STATE_HOMING;
+    }
+
+    return state;
+}
+
+/*********************************************************************//**
+ * @brief
  * The publishEjectorData function constructs and sends the air pump data
  * broadcast message.
  * @details \b Message \b Sent: MSG_ID_TD_EJECTOR_DATA