This is an important release because it fixes random freezes of boards due to interrupt priorities.
Please upgrade to this release following this link.
Also a new Enhanced version has been published, this has a increased MPU6000 driver.
The Gyro and Accels now are sampled at 1KHz instead of 200Hz and main loop averages 10 samples every main loop.
This has imprved flight performance, but it is still in test, so use accordingly. With this version you can try to rise the INS_FILTER partameter to 42Hz or 98Hz, but you must have vibration under control.
Have fun and fly safe!
The VirtualRobotix Team