Navx Trouble - inconsistent connection

[Techwiz]

We have a NavX IMU connected via USB to the RoboRio. From time to time we seem to be loosing comminucation with the NavX. Watching the Update counter on the smart dashboard shoes hiccups along the way. Furthermore watching the isConnected() on the smart dashboard shows random disconnects.

We are at a loss. Its clear that the gyro(Yaw) reading is much less noisy. But for some reason when we execute turns using a PID controller and the Navx we get unpredictable results. Often the turn operates as we expect. However a fair amount of the trials we get a haywire result.

Our current robot code:
https://github.com/TechplexEngineer/fred2

Where the AHRS imu is instantiated:
https://github.com/TechplexEngineer/...Drive.java#L83

Using the imu in a PIDCommand for turning:
https://github.com/TechplexEngineer/...urn_angle.java