move the coeffs polynomial data into a static var because having it inside the function was pushing like 400bytes onto the stack lol
ifdef printf_
add task usage otits to check if any task is using too much or too little stack (too little stack means we could reduce the stack size to reduce wasted space)
reduced vn task stack size now that its not using a 3000byte char array
add more #ifdef for icm methods
make main.c call error_handler if any inits fail. This should catch any init failures during last minute crunch time changes. We should decide what to do with Error_Handler() in production, like try to restart the board?? or just be so certain that it will never happen...?
Error_Handler()in production, like try to restart the board?? or just be so certain that it will never happen...?