Sometimes autonomous cycles at half rate (19 Hz instead of 38 Hz)

[10intheCrunch]

The radio interrupts are handled by the Master processors, so that shouldn't actually be interrupting you, and I *really* doubt you have enough interrupt code to stall you that much. Further, if you don't call putdata() often enough (the normal 40hz or faster, I believe) the Master assumes the User is faulty/off and shuts it all down.

A red flag for me is that this is happening under tether...we had a lot of problems working with the tether when we were at Sacramento. The RC would keep resetting itself for no real discernable reason, and values were coming in really screwy-like. We solved most of the issues by ignoring the first few radio packets coming in, but I doubt that's what's going to help you...so weird.