Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -re7fc14ea1f82609c49bd3e82480523fe312a27f2 -ra074eec2ed7d04a1ea90072d7c9c013bf27a6e90
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision e7fc14ea1f82609c49bd3e82480523fe312a27f2)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision a074eec2ed7d04a1ea90072d7c9c013bf27a6e90)
@@ -48,6 +48,7 @@
 #define FPGA_H4_ENABLE_BIT_MASK          0x01                                   ///< Bit mask for enabling the blood 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_H4_BIT_2_INDEX              2                                      ///< Blood pump bit 2 index.
 
 #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.
@@ -478,7 +479,8 @@
 {
     if ( MOTOR_DIR_FORWARD == dir )
     {
-        fpgaActuatorSetPoints.h4Control &= ~( 1 << 2 );
+        // First clear bit 2 if it is on otherwise the pump can be kept on brake
+        fpgaActuatorSetPoints.h4Control &= ~( 1 << FPGA_H4_BIT_2_INDEX );
         fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIR_FORWARD_BIT_MASK;
     }
     else