diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 000000000..df4d15b35
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,8 @@
+version: 2
+updates:
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      # Check for updates to GitHub Actions every week
+      interval: "weekly"
diff --git a/.github/workflows/actions.yml b/.github/workflows/actions.yml
index 1ab87a928..d2714f081 100644
--- a/.github/workflows/actions.yml
+++ b/.github/workflows/actions.yml
@@ -9,21 +9,29 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: ${{ runner.os }}-pio
 
       - name: Set up Python
-        uses: actions/setup-python@v1
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
 
-      - name: Install pio and its dependencies
+      - name: Install PlatformIO and its dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install platformio
+          pip install --upgrade platformio
 
       - name: Run builds
         run: python ./ci/build.py
 
       - name: Upload binaries
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: binaries
           path: ./build/*.bin
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 4aab4a714..553f1b86d 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -1,6 +1,6 @@
 name: Releases
 
-on: 
+on:
   push:
     tags:
     - '*'
@@ -12,9 +12,9 @@ jobs:
     permissions:
       contents: write
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - uses: ncipollo/release-action@v1
       with:
         artifacts: "./build/*.bin"
         draft: true
-        token: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file
+        token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.gitignore b/.gitignore
index 1863b5ac9..e60545875 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 .vscode/*
 build/
 venv/
+cache/
diff --git a/platformio.ini b/platformio.ini
index 5e79a00fb..0e90d8028 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -11,6 +11,9 @@
 ; https://docs.slimevr.dev/firmware/configuring-project.html#1-configuring-platformioini
 ; ================================================
 
+[platformio]
+build_cache_dir = cache
+
 [env]
 lib_deps=
   https://github.com/SlimeVR/CmdParser.git
diff --git a/src/GlobalVars.h b/src/GlobalVars.h
index 45adde97b..66bab0a8c 100644
--- a/src/GlobalVars.h
+++ b/src/GlobalVars.h
@@ -32,6 +32,7 @@
 #include "network/manager.h"
 #include "sensors/SensorManager.h"
 #include "status/StatusManager.h"
+#include "batterymonitor.h"
 
 extern Timer<> globalTimer;
 extern SlimeVR::LEDManager ledManager;
@@ -40,5 +41,6 @@ extern SlimeVR::Configuration::Configuration configuration;
 extern SlimeVR::Sensors::SensorManager sensorManager;
 extern SlimeVR::Network::Manager networkManager;
 extern SlimeVR::Network::Connection networkConnection;
+extern BatteryMonitor battery;
 
 #endif
diff --git a/src/batterymonitor.h b/src/batterymonitor.h
index e13644e5b..7ae8140f2 100644
--- a/src/batterymonitor.h
+++ b/src/batterymonitor.h
@@ -72,6 +72,9 @@ class BatteryMonitor
     void Setup();
     void Loop();
 
+    float getVoltage() const { return voltage; }
+    float getLevel() const { return level; }
+
 private:
     unsigned long last_battery_sample = 0;
 #if BATTERY_MONITOR == BAT_MCP3021 || BATTERY_MONITOR == BAT_INTERNAL_MCP3021
diff --git a/src/debug.h b/src/debug.h
index 802c20992..c446889e6 100644
--- a/src/debug.h
+++ b/src/debug.h
@@ -154,7 +154,7 @@
 	#define ENABLE_INSPECTION false
 #endif
 
-#define FIRMWARE_BUILD_NUMBER 17
+#define PROTOCOL_VERSION 17
 #define FIRMWARE_VERSION "0.4.0"
 
 #endif // SLIMEVR_DEBUG_H_
diff --git a/src/network/connection.cpp b/src/network/connection.cpp
index d37f93d97..be7e74feb 100644
--- a/src/network/connection.cpp
+++ b/src/network/connection.cpp
@@ -401,7 +401,7 @@ void Connection::sendTrackerDiscovery() {
 	MUST(sendInt(0));
 	MUST(sendInt(0));
 	MUST(sendInt(0));
-	MUST(sendInt(FIRMWARE_BUILD_NUMBER));
+	MUST(sendInt(PROTOCOL_VERSION));
 	MUST(sendShortString(FIRMWARE_VERSION));
 	// MAC address string
 	MUST(sendBytes(mac, 6));
diff --git a/src/sensors/softfusion/softfusionsensor.h b/src/sensors/softfusion/softfusionsensor.h
index ec076a757..5f70e5ff0 100644
--- a/src/sensors/softfusion/softfusionsensor.h
+++ b/src/sensors/softfusion/softfusionsensor.h
@@ -155,6 +155,7 @@ class SoftFusionSensor : public Sensor
                     gyro[2] = xyz[2];
                 }
             );
+            yield();
         }
         return std::make_pair(accel, gyro);
     }
@@ -484,6 +485,7 @@ class SoftFusionSensor : public Sensor
                 [&accelSamples](const int16_t xyz[3], const sensor_real_t timeDelta) { accelSamples++; },
                 [&gyroSamples](const int16_t xyz[3], const sensor_real_t timeDelta) { gyroSamples++; }
             );
+            yield();
         }
 
         const auto millisFromStart = currentTime - (calibTarget - 1000 * SampleRateCalibSeconds);
diff --git a/src/serial/serialcommands.cpp b/src/serial/serialcommands.cpp
index 72934b42f..06c427942 100644
--- a/src/serial/serialcommands.cpp
+++ b/src/serial/serialcommands.cpp
@@ -124,10 +124,10 @@ namespace SerialCommands {
 
     void printState() {
         logger.info(
-            "SlimeVR Tracker, board: %d, hardware: %d, build: %d, firmware: %s, address: %s, mac: %s, status: %d, wifi state: %d",
+            "SlimeVR Tracker, board: %d, hardware: %d, protocol: %d, firmware: %s, address: %s, mac: %s, status: %d, wifi state: %d",
             BOARD,
             HARDWARE_MCU,
-            FIRMWARE_BUILD_NUMBER,
+            PROTOCOL_VERSION,
             FIRMWARE_VERSION,
             WiFiNetwork::getAddress().toString().c_str(),
             WiFi.macAddress().c_str(),
@@ -144,6 +144,11 @@ namespace SerialCommands {
                 sensor->getHadData() ? "true" : "false"
             );
         }
+        logger.info(
+            "Battery voltage: %.3f, level: %.1f%%",
+            battery.getVoltage(),
+			battery.getLevel() * 100
+        );
     }
 
     void cmdGet(CmdParser * parser) {
@@ -200,10 +205,10 @@ namespace SerialCommands {
 
         if (parser->equalCmdParam(1, "TEST")) {
             logger.info(
-                "[TEST] Board: %d, hardware: %d, build: %d, firmware: %s, address: %s, mac: %s, status: %d, wifi state: %d",
+                "[TEST] Board: %d, hardware: %d, protocol: %d, firmware: %s, address: %s, mac: %s, status: %d, wifi state: %d",
                 BOARD,
                 HARDWARE_MCU,
-                FIRMWARE_BUILD_NUMBER,
+                PROTOCOL_VERSION,
                 FIRMWARE_VERSION,
                 WiFiNetwork::getAddress().toString().c_str(),
                 WiFi.macAddress().c_str(),