Progress update, 22 Aug 2026

Updates are bullet-point summaries generated with AI from my commits and build notes, then checked by me. Project articles and learning notes are written by me.

Removed the delay_ms(5) after each loop. It added 5 ms on top of about 3.34 ms of work, so the loop ran near 120 Hz against a 200 Hz sensor. Motor jitter dropped straight away.
The controller, encoders and telemetry now advance only on a complete fresh DMP packet, because the loop polls 625 to 770 times a second without the delay.
Added an IMonotonicClock interface for the stale-IMU motor timeout. Measured cost: 616 bytes of flash and 8 bytes of BSS, under 1% of the 256 KB flash.
See Run the controller only on fresh samples and Separate the control logic from the hardware.