I've had the exact same problem you described, except I was using a competition dongle (practice time at home). The problem only happened three times, two with the flashing code error light. The other time, code error turned on steady and only a cold boot would fix it (resetting didn't do a thing).
The problem
appeared to happen when we clicked the "set arm position" button, but all that does is change a variable's value, the function that sets it gets called every slow loop regardless of a button press. I couldn't replicate the problem in any way, I just noticed that it coincidentally happened when we pressed one of those buttons.
There's nothing too slow in my code (absolutely no for/while loops, only a few printfs, two 8 CPR home-made encoders and two analog channels reading - that's the heaviest section) and most of it is standard Kevin code. My "fix" to the steady code error light was a Master processor reprogramming (and updating the user code with the
same code that was running before), and I haven't been able to replicate the problem. I didn't even think it was a big deal, but now that you may have the same problem there could be something wrong (and if there is, it's probably in this sequence: our code -> our RC hardware -> the PIC silicon -> Kevin's code
)
Hopefully it went away, but, once again, it was too sporadical to know for sure.
Kevin, I can send you my code if you want, but I really don't think there's anything wrong with it.
Once again thanks for writing it!