Just a FYI of a small thing. I always fly in simple mode or Alt Hold. I do not set up my Mode Switch to include Stabilize. The first mode position I set for is Simple. But on bootup the system defaults to Stabilize for that position... unless I move the mode switch back and forth then it resets to Simple mode. I have surprised myself a couple times thinking I was in Simple, resulting in near crashes.
Maybe something can be done later. Thumbs up for your great advances.