We (mostly Leonard and Tridge) have a number of bug fixes and enhancements that we hope will resolve the internal errors and control issues caused by overloaded CPUs here and in other threads (discussion1, discussion2).
Below are links to firmwares for a few different boards. In each download are two firmwares, the “432rc1” firmware includes simpler bug fixes while the “432rc1-withdt” additionally includes Leonard’s control timing improvements. I’m happy to pre-build firmwares for other boards upon request.
FYI @Axel1, @xfacta, @A_manafi, @TilCreator, @kalai1219