Index: firmware/App/Controllers/Ejector.c
===================================================================
diff -u -r9a8e1fc597eb4f681527e691fb6cb24e550d8b92 -ra0b8983fa00aa8e2e8ec74744978cffaa4011dcd
--- firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision 9a8e1fc597eb4f681527e691fb6cb24e550d8b92)
+++ firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision a0b8983fa00aa8e2e8ec74744978cffaa4011dcd)
@@ -30,7 +30,7 @@
 
 // ********** private definitions **********
 
-#define EJECTOR_RETRACT_OP_TIME             ( ( MS_PER_SECOND * 5 ) / TASK_GENERAL_INTERVAL )   ///< Ejector retract operation interval.
+#define EJECTOR_RETRACT_OP_TIME             ( ( MS_PER_SECOND * 10 ) / TASK_GENERAL_INTERVAL )   ///< Ejector retract operation interval.
 #define EJECTOR_EXTEND_OP_TIME              ( ( MS_PER_SECOND * 10 ) / 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.
@@ -43,10 +43,10 @@
 /// Enumeration of ejector states.
 typedef enum EjectorOperations
 {
-    EJECTOR_OPERATION_HOME = 0,         ///< Ejector home operation
-    EJECTOR_OPERATION_RETRACT,          ///< Ejector retract operation
-    EJECTOR_OPERATION_EXTEND,           ///< Ejector extend operation
-    NUM_OF_EJECTOR_OPERATIONS,          ///< Number of ejector operations
+    EJECTOR_OPERATION_HOME = 0,                                                                 ///< Ejector home operation
+    EJECTOR_OPERATION_RETRACT,                                                                  ///< Ejector retract operation
+    EJECTOR_OPERATION_EXTEND,                                                                   ///< Ejector extend operation
+    NUM_OF_EJECTOR_OPERATIONS,                                                                  ///< Number of ejector operations
 } EJECTOR_OPERATION_T;
 
 // ********** private data **********
@@ -103,37 +103,6 @@
 
 /*********************************************************************//**
  * @brief
- * The resetEjectorFlags function resets the ejector flags to FALSE.
- * @details \b Inputs: none
- * @details \b Outputs: ejectorHomeRequested, ejectorRetractRequested,
- * ejectorExtendRequested, ejectorAbortRequested
- * @return none
- *************************************************************************/
-static void resetEjectorFlags( void )
-{
-    ejectorHomeRequested = FALSE;
-    ejectorRetractRequested = FALSE;
-    ejectorExtendRequested = FALSE;
-    ejectorAbortRequested = FALSE;
-}
-
-/*********************************************************************//**
- * @brief
- * The setEjectorSpeed function records the requested ejector speed and
- * sets the ejector motor speed to that speed.
- * @details \b Inputs: none
- * @details \b Outputs: currentEjectorSetSpeed
- * @param speed Target speed for ejector motor.
- * @return none
- *************************************************************************/
-static void setEjectorSpeed( F32 speed )
-{
-    currentEjectorSetSpeed = speed;
-    setEjectorMotorSpeed( currentEjectorSetSpeed );
-}
-
-/*********************************************************************//**
- * @brief
  * The homeEjector function requests an ejector home operation.
  * @details \b Inputs: currentEjectorState
  * @details \b Outputs: ejectorHomeRequested
@@ -336,7 +305,7 @@
 {
     EJECTOR_STATE_T state = EJECTOR_STATE_HOMING;
 
-    if ( ++ejectorOperationTimerCounter >= EJECTOR_RETRACT_OP_TIME )
+    if ( ( ++ejectorOperationTimerCounter >= EJECTOR_RETRACT_OP_TIME ) || ( TRUE == isEjectorOpticalSensorActive( EJECTOR_OPT_SENSOR_RETRACT ) ) )
     {
         ejectorOperationTimerCounter = 0;
         setEjectorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
@@ -410,7 +379,8 @@
 {
     EJECTOR_STATE_T state = EJECTOR_STATE_RETRACTING;
 
-    if ( ++ejectorOperationTimerCounter >= EJECTOR_RETRACT_OP_TIME )
+    // If the optical sensor is active it means the ejector has reached to the full retract position
+    if ( ( ++ejectorOperationTimerCounter >= EJECTOR_RETRACT_OP_TIME ) || ( TRUE == isEjectorOpticalSensorActive( EJECTOR_OPT_SENSOR_RETRACT ) ) )
     {
         ejectorOperationTimerCounter = 0;
         setEjectorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
@@ -476,7 +446,8 @@
 {
     EJECTOR_STATE_T state = EJECTOR_STATE_EXTENDING;
 
-    if ( ++ejectorOperationTimerCounter >= EJECTOR_EXTEND_OP_TIME )
+    // If the optical sensor is active it means the ejector has reached to the full extended (engage) position
+    if ( ( ++ejectorOperationTimerCounter >= EJECTOR_EXTEND_OP_TIME ) || ( TRUE == isEjectorOpticalSensorActive( EJECTOR_OPT_SENSOR_ENGAGE ) ) )
     {
         ejectorOperationTimerCounter = 0;
         setEjectorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
@@ -510,6 +481,37 @@
 
 /*********************************************************************//**
  * @brief
+ * The resetEjectorFlags function resets the ejector flags to FALSE.
+ * @details \b Inputs: none
+ * @details \b Outputs: ejectorHomeRequested, ejectorRetractRequested,
+ * ejectorExtendRequested, ejectorAbortRequested
+ * @return none
+ *************************************************************************/
+static void resetEjectorFlags( void )
+{
+    ejectorHomeRequested = FALSE;
+    ejectorRetractRequested = FALSE;
+    ejectorExtendRequested = FALSE;
+    ejectorAbortRequested = FALSE;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setEjectorSpeed function records the requested ejector speed and
+ * sets the ejector motor speed to that speed.
+ * @details \b Inputs: none
+ * @details \b Outputs: currentEjectorSetSpeed
+ * @param speed Target speed for ejector motor.
+ * @return none
+ *************************************************************************/
+static void setEjectorSpeed( F32 speed )
+{
+    currentEjectorSetSpeed = speed;
+    setEjectorMotorSpeed( currentEjectorSetSpeed );
+}
+
+/*********************************************************************//**
+ * @brief
  * The publishEjectorData function constructs and sends the air pump data
  * broadcast message.
  * @details \b Message \b Sent: MSG_ID_TD_EJECTOR_DATA
@@ -524,8 +526,10 @@
     {
         EJECTOR_PAYLOAD_T data;
 
-        data.h5State    = getEjectorState();
-        data.h5SetSpeed = currentEjectorSetSpeed;
+        data.h5State              = getEjectorState();
+        data.h5SetSpeed           = currentEjectorSetSpeed;
+        data.retractOpticalSensor = (U32)isEjectorOpticalSensorActive( EJECTOR_OPT_SENSOR_RETRACT );
+        data.engageOpticalSensor  = (U32)isEjectorOpticalSensorActive( EJECTOR_OPT_SENSOR_ENGAGE );
 
         broadcastData( MSG_ID_TD_EJECTOR_DATA, COMM_BUFFER_OUT_CAN_TD_BROADCAST, (U08*)&data, sizeof( EJECTOR_PAYLOAD_T ) );
         ejectorDataPublicationTimerCounter = 0;