I got to root cause for one of my more frustrating stability bugs. The culprit was noise generated by the large vibration motor being in close proximity to my radio antenna. These large voltage spikes on the battery voltage rail were causing the radio to become unresponsive to receive messages and in more extreme cases causing it to lock up and freeze the program. My current work around it to try and keep the battery voltage bus far away from the radio and antenna inside the gun, but I think I will be moving the motors to dedicated motor driver ICs that appear to do a better job of keeping the voltage rail clean.