While not perfect, now that I have flux braking in place, I have now succesfully pronked around for a while without faulting!  There are a number of outstanding problems that still need to be addressed:

• Sometimes the landing phase is erroneously cut short
• There is occasionally a grinding like noise that sounds like some controller is unstable
• I think the lateral movement is not working correctly
• The gait needs to be smarter about moving the legs past the center point when in mid-flight, and changing the gait period to achieve different speeds
• And probably a bunch of other problems I haven’t even identified yet

That said, it is still fun to watch it romp around!