10°C and all’s fine

I think the problem with stability was a combination of Hermione’s new long legs’ weight distribution, combined with (perhaps) cold LiPo power.  Putting her back to the body layout above, combined with running the LiPo over a 33Ω resistor (0.5A at 4s cells ≈ 16V = 8W when she’s not plugged in) and normal behaviour has resumed.  Due to some diagnostics tweaks, the code is updated on GitHub.

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