Index: firmware/App/Controllers/Ejector.c
===================================================================
diff -u -re130387b9e8ed54237a6e4c3020222060c2be5a9 -re24a98a344ba13ceb0663b415268a7e1dd5ce99e
--- firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision e130387b9e8ed54237a6e4c3020222060c2be5a9)
+++ firmware/App/Controllers/Ejector.c	(.../Ejector.c)	(revision e24a98a344ba13ceb0663b415268a7e1dd5ce99e)
@@ -7,11 +7,11 @@
 *
 * @file    Ejector.c
 *
-* @author  (last)      Sean
-* @date    (last)      13-May-2025
+* @author  (last)      Dara Navaei
+* @date    (last)      25-Nov-2025
 *
-* @author  (original)  Sean
-* @date    (original)  13-May-2025
+* @author  (original)  Sean Nash
+* @date    (original)  15-May-2025
 *
 ***************************************************************************/
 
@@ -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 **********
@@ -73,6 +73,7 @@
 static EJECTOR_STATE_T handleEjectorRetractBackoffState( void );
 static EJECTOR_STATE_T handleEjectorDirChangeStopState( void );
 static EJECTOR_STATE_T handleEjectorAbortState( void );
+static void setEjectorSpeed( F32 speed );
 static void resetEjectorFlags( void );
 static void publishEjectorData( void );
 
@@ -122,6 +123,7 @@
  * 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 )
@@ -197,15 +199,26 @@
 /*********************************************************************//**
  * @brief
  * The abortEjectorOperation function requests an ejector abort operation.
- * @details \b Inputs: none
+ * @details \b Inputs: currentEjectorState
  * @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;
+    switch ( currentEjectorState )
+    {
+        case EJECTOR_STATE_HOMING:
+        case EJECTOR_STATE_RETRACTING:
+        case EJECTOR_STATE_EXTENDING:
+            setEjectorMotorSpeed( EJECTOR_OFF_MOTOR_SPEED_RPM );
+            // Set the flag to TRUE regardless of where the ejector is at
+            ejectorAbortRequested = TRUE;
+            break;
+
+        default:
+            // Do nothing on the rest of the states. Only initiate the abort sequence if an operation is in progress.
+            break;
+    }
 }
 
 /*********************************************************************//**
@@ -397,7 +410,8 @@
 {
     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 );
@@ -463,7 +477,8 @@
 {
     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 );
@@ -511,8 +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;