Thanks for the reply. I’m not expecting you to change the firmware for me! I’ve just been wondering whether, maybe, this was already in there. From your answer I surmise that it’s not.
btw, you mention open source firmware. Would you be prepared to make available documentation on the micro-controller and board, so that others could write one? We’re currently engaged in a micro-controller oriented project for ROS and would be interested in something like that to make a show-case on widely available hardware.