Index: firmware/App/Controllers/Ejector.c
===================================================================
diff -u -r82bb2222f791a434d22921e2fe4f5edd7e74776d -rfdb7ee915da2741dc200fef1b624b7f383f4db85
--- firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision 82bb2222f791a434d22921e2fe4f5edd7e74776d)
+++ firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision fdb7ee915da2741dc200fef1b624b7f383f4db85)
@@ -31,7 +31,8 @@
 // ********** private definitions **********
 
 #define EJECTOR_RETRACT_OP_TIME             ( ( MS_PER_SECOND * 5 ) / TASK_GENERAL_INTERVAL )   ///< Ejector retract operation interval.
-#define EJECTOR_EXTEND_OP_TIME              ( ( MS_PER_SECOND * 5 ) / TASK_GENERAL_INTERVAL )   ///< Ejector extend operation interval.
+#define EJECTOR_EXTEND_OP_TIME              ( ( MS_PER_SECOND * 4 ) / TASK_GENERAL_INTERVAL )   ///< Ejector extend operation interval.
+#define EJECTOR_BACKOFF_OP_TIME             ( 50 / TASK_GENERAL_INTERVAL )                      ///< Ejector back-off operation interval.
 #define EJECTOR_DATA_PUB_INTERVAL           ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )           ///< Ejector data publish interval.
 #define DATA_PUBLISH_COUNTER_START_COUNT    13                                                  ///< Ejector data publish start counter.
 
@@ -68,6 +69,8 @@
 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 resetEjectorFlags( void );
 static void publishEjectorData( void );
 
@@ -218,6 +221,14 @@
             currentEjectorState = handleEjectorExtendingState();
             break;
 
+        case EJECTOR_STATE_RETRACT_BACKOFF:
+            currentEjectorState = handleEjectorRetractBackoffState();
+            break;
+
+        case EJECTOR_STATE_DIR_CHANGE_STOP:
+            currentEjectorState = handleEjectorDirChangeStopState();
+            break;
+
         default:
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_EJECTOR_INVALID_STATE, (U32)currentEjectorState )
             break;
@@ -267,7 +278,7 @@
     {
         ejectorOperationTimerCounter = 0;
         setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
-        state = EJECTOR_STATE_RETRACTED;
+        state = EJECTOR_STATE_DIR_CHANGE_STOP;
     }
 
     return state;
@@ -333,6 +344,50 @@
     {
         ejectorOperationTimerCounter = 0;
         setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
+        state = EJECTOR_STATE_DIR_CHANGE_STOP;
+    }
+
+    return state;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The handleEjectorDirChangeStopState function handles the direction change
+ * stop state of the ejector control state machine.
+ * @details \b Inputs: ejectorOperationTimerCounter
+ * @details \b Outputs: ejectorOperationTimerCounter
+ * @return next state of the ejector control state machine
+ *************************************************************************/
+static EJECTOR_STATE_T handleEjectorDirChangeStopState( void )
+{
+    EJECTOR_STATE_T state = EJECTOR_STATE_DIR_CHANGE_STOP;
+
+    if ( ++ejectorOperationTimerCounter >= EJECTOR_BACKOFF_OP_TIME )
+    {
+        ejectorOperationTimerCounter = 0;
+        setEjectorMotorSpeed( EJECTOR_EXTEND_MOTOR_SPEED_RPM );
+        state = EJECTOR_STATE_RETRACT_BACKOFF;
+    }
+
+    return state;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The handleEjectorRetractBackoffState function handles the retract back-off
+ * state of the ejector control state machine.
+ * @details \b Inputs: ejectorOperationTimerCounter
+ * @details \b Outputs: ejectorOperationTimerCounter
+ * @return next state of the ejector control state machine
+ *************************************************************************/
+static EJECTOR_STATE_T handleEjectorRetractBackoffState( void )
+{
+    EJECTOR_STATE_T state = EJECTOR_STATE_RETRACT_BACKOFF;
+
+    if ( ++ejectorOperationTimerCounter >= EJECTOR_BACKOFF_OP_TIME )
+    {
+        ejectorOperationTimerCounter = 0;
+        setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
         state = EJECTOR_STATE_RETRACTED;
     }