It does look like a lot, but hopefully mostly because I broke it down into many smaller pieces...
BTW, I implemented the idea of having all the config param reads/write requests funneled through one thread -- supervisor. It's low-priority, and was already calling most of those routines anyway (eg. when using stick commands to save params). This reduces required COMM stack space quite a bit. I did add some space to SUPERVISOR stack, just in case, but it's not really required.
Anyway, the relevant commit is here:
https://github.com/mpaperno/aq_flight_c ... 0cb0dc2dae-Max