ACwing_FlightController_FW (andrea-cirillo)FirmwareConfidence: Medium

With BLE running, a late IMU read left the interrupt stuck high, losing 39 percent of samples at about 50 I2C errors per second, and the IMU ran near 916 Hz instead of the configured 960 Hz.

Impact Analysis

Persona

Firmware Engineer

Team Size Impact

5x Multiplier

Prototype Delay

3 Days

Est. Annual Cost

$30,000

1 user · 1 month240 min
Rest of team960 min
Rest of year13,200 min

monthly_minutes × 12 × team_multiplier ÷ 60 × $75/hr = $30k/yr

$75/hr assumed rate.

Annual team-minutes decomposed from the reported monthly inputs.

Evidence & Sources

1 Sources

andrea-cirillo/ACwing_FlightController_FW PR #4: BLE validated on the board: IMU timing fixes, CubeMX settings, viewer orientation

github.com

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Analyst Notes

From the Grok pain-radar digest, Oct 26 2026 (8:41 AM to 11:41 AM ET digests plus Haitch morning edition). Verified live 2026-10-26: issue/PR/thread read; title and state confirmed.