I want to give you some technical details about firmware, as i promised.
Let's start with a regular "safe" firmware. Looking at the firmware line of mini/Pro i see only one strategy line: "Let's make a good product at start and then kill it with firmware after one or two years to force the user to buy new model".
The other thing is that all products designed with a better characteristics than you will get as a regular user. For example, you can become a "super user" just changing only one condition in firmware settings and get 20 km/h on fully charged battery. It's a regular functionality of firmware not a mod of it.
"Safety" of regular firmware is a big question to discuss too. Just an example - critical IRQ handlers. What we must do on a "hard fault" or "watchdog" interrupts in mission critical applications? The common practice is try to switch to some "emergency mode", "alternative control law", save the rider from falling, whatever to save situation... and what ninebot do? - nothing! Just switching all off to save (as they think) hardware. The same story is for losing samples from Hall sensors or any other sensor on the bot.
Now some words now about the modded firmware.
I was not be able to fix ninebot bugs or add safety to the firmware. It lays out of the modding limitations and tasks for full custom firmware for this device.
All I can do now is to unlock the stupid limits of speed and limit the quantity the endless warnings.
I tried not exceed reasonable limits of the bot. Also I found that firmware has several different speed limits like warning level, soft limit and hard limit. Only warning and soft limit are changed. The hard limit is still in it's place and has the value of 25km/h.
BTW, early firmwares has bigger limit values.
That's all for today. Fill free to ask your questions.