Kill Code (if messages aren't received then motors are turned off.

[Bewgg3]

If code crashes the rov goes roge and motors are stuck at what ever values they were set at when code crashes

[JoeF140]

Clarification: If main board code crashes.

[Bewgg3]

If the ESC code is crashes, we MIGHT be able to do some electrical magic to reset (power cycling) to fix it.

[calebthejett]

EDIT my comment was about the specific issue of main board hanging and motors still running, sorry

It's not the ESC code that's hanging, we ruled that out with the heartbeat. We could set up a watchdog reset timer on the mainboard (set the timer to n milliseconds, reset it every cycle, if it doesn't reset in time the board resets). But that's a pretty nuclear option, it would be much better to not have i2c issues at all, or to handle them softly (assuming it's an i2c issue)