Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -r0054e875bf1b9a85d017e6e388b225f51ae6d032 -re7fc14ea1f82609c49bd3e82480523fe312a27f2
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 0054e875bf1b9a85d017e6e388b225f51ae6d032)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision e7fc14ea1f82609c49bd3e82480523fe312a27f2)
@@ -46,8 +46,8 @@
 #define MIN_POWER_ON_TIME_FOR_COMM_FAILS ( 1 * MS_PER_SECOND )                  ///< Allow FPGA comm errors for first second after power-up
 
 #define FPGA_H4_ENABLE_BIT_MASK          0x01                                   ///< Bit mask for enabling the blood pump.
-#define FPGA_H4_DIRECTION_REV_BIT_MASK   0x02                                   ///< Bit mask for setting the blood pump direction.
-#define FPGA_H4_BRAKE_AND_HOLD_TORQUE    0x05                                   ///< Bit mask for braking the blood pump while holding the torque of the pump.
+#define FPGA_H4_DIR_FORWARD_BIT_MASK     0x02                                   ///< Bit mask for setting the blood pump direction.
+#define FPGA_H4_BRAKE_AND_HOLD_TORQUE    0x06                                   ///< Bit mask for braking the blood pump while holding the torque of the pump.
 
 #define FPGA_H13_OPEN_BIT_MASK           0x01                                   ///< Bit mask for setting H13 valve position to open.
 #define FPGA_H20_OPEN_BIT_MASK           0x02                                   ///< Bit mask for setting H20 valve position to open.
@@ -476,13 +476,14 @@
  *************************************************************************/
 void setH4Direction( MOTOR_DIR_T dir )
 {
-    if ( MOTOR_DIR_REVERSE == dir )
+    if ( MOTOR_DIR_FORWARD == dir )
     {
-        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_REV_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control &= ~( 1 << 2 );
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIR_FORWARD_BIT_MASK;
     }
     else
     {
-        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIRECTION_REV_BIT_MASK);
+        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIR_FORWARD_BIT_MASK);
     }
 }