Hi there,
WOW, You have come a mile or three 
on the Code for sure… LOOKS Great!
If I were to make any comment it would be the ISR’s routines look a little long.
When ever I have had latency or drops it always came down to how fast the ISR’s where.
Also
Is the static always present Like the bias is off or, just in between, chunks?
Very cool
HTH
GL 
PJ 
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