My board is fully functional. Everything works as intended except one thing. There is one small bug that I have been unable to track down. When the motors are Idle they make noise, but when I shut off the radio and the board enters failsafe the motors are dead quiet. I am not really sure what is happening. I am currently running the board using 8mhz internal clock, the problem gets worse with lower frequency. I may make another board revision that has an external resonator to see if increasing the clock speed helps. I am also still experimenting with the code hoping I can find a software solution to this bug.