This version reduces commutation interference and contains a number of optimizations and internal restructuring.

Bug Fixes

• Reduce telemetry commutation interference (9e95239)

Performance Improvements

• Optimize some jumps (a23c3b8)
• Remove adc conversion call (1d69c07)
• Remove redundant instruction in telemetry code (753bb73)
• Remove rendundant jumps (9bd8ffe)