diff --git a/components/bootloader/src/main/bootloader_start.c b/components/bootloader/src/main/bootloader_start.c
index e0ab7f9e2a..a61ea77d59 100644
--- a/components/bootloader/src/main/bootloader_start.c
+++ b/components/bootloader/src/main/bootloader_start.c
@@ -411,15 +411,15 @@ void unpack_load_app(const partition_pos_t* partition)
             map = true;
         }
 
-		if(!load_rtc_memory && address >= RTC_IRAM_LOW && address < RTC_IRAM_HIGH) {
-			ESP_LOGD(TAG, "Skipping RTC code section at %08x\n", pos);
-			load = false;
-		}
+        if (!load_rtc_memory && address >= RTC_IRAM_LOW && address < RTC_IRAM_HIGH) {
+            ESP_LOGD(TAG, "Skipping RTC code section at %08x\n", pos);
+            load = false;
+        }
 
-		if(!load_rtc_memory && address >= RTC_DATA_LOW && address < RTC_DATA_HIGH) {
-			ESP_LOGD(TAG, "Skipping RTC data section at %08x\n", pos);
-			load = false;
-		}
+        if (!load_rtc_memory && address >= RTC_DATA_LOW && address < RTC_DATA_HIGH) {
+            ESP_LOGD(TAG, "Skipping RTC data section at %08x\n", pos);
+            load = false;
+        }
 
         ESP_LOGI(TAG, "section %d: paddr=0x%08x vaddr=0x%08x size=0x%05x (%6d) %s", section_index, pos,
                  section_header.load_addr, section_header.data_len, section_header.data_len, (load)?"load":(map)?"map":"");
diff --git a/components/bt/component.mk b/components/bt/component.mk
index a9233cc74a..e88651aa13 100644
--- a/components/bt/component.mk
+++ b/components/bt/component.mk
@@ -4,8 +4,6 @@
 
 #COMPONENT_ADD_INCLUDEDIRS := 
 
-CURRENT_DIR=$(IDF_PATH)/components/bt
-
 COMPONENT_ADD_INCLUDEDIRS := include
 
 CFLAGS += -Wno-error=unused-label -Wno-error=return-type -Wno-error=missing-braces -Wno-error=pointer-sign -Wno-error=parentheses
@@ -22,4 +20,4 @@ ALL_LIB_FILES := $(patsubst %,$(COMPONENT_PATH)/lib/lib%.a,$(LIBS))
 $(COMPONENT_LIBRARY): $(ALL_LIB_FILES)
 
 # automatically trigger a git submodule update if BT library is missing
-$(eval $(call SubmoduleRequiredForFiles,$(ALL_LIB_FILES)))
+$(eval $(call SubmoduleCheck,$(ALL_LIB_FILES),$(COMPONENT_PATH)/lib))
diff --git a/components/esp32/component.mk b/components/esp32/component.mk
index 6eac77afd3..b41acee60d 100644
--- a/components/esp32/component.mk
+++ b/components/esp32/component.mk
@@ -27,7 +27,7 @@ ALL_LIB_FILES := $(patsubst %,$(COMPONENT_PATH)/lib/lib%.a,$(LIBS))
 
 # automatically trigger a git submodule update
 # if any libraries are missing
-$(eval $(call SubmoduleRequiredForFiles,$(ALL_LIB_FILES)))
+$(eval $(call SubmoduleCheck,$(ALL_LIB_FILES),$(COMPONENT_PATH)/lib))
 
 # this is a hack to make sure the app is re-linked if the binary
 # libraries change or are updated. If they change, the main esp32
diff --git a/components/esptool_py/Makefile.projbuild b/components/esptool_py/Makefile.projbuild
index 49f0548369..4d0dd1b3e5 100644
--- a/components/esptool_py/Makefile.projbuild
+++ b/components/esptool_py/Makefile.projbuild
@@ -24,10 +24,11 @@ $(APP_BIN): $(APP_ELF) $(ESPTOOLPY_SRC)
 	$(Q) $(ESPTOOLPY) elf2image --flash_mode $(ESPFLASHMODE) --flash_freq $(ESPFLASHFREQ) -o $@ $<
 
 flash: all_binaries $(ESPTOOLPY_SRC)
-	@echo "Flashing project app to $(CONFIG_APP_OFFSET)..."
+	@echo "Flashing binaries to serial port $(ESPPORT) (app at offset $(CONFIG_APP_OFFSET))..."
 	$(Q) $(ESPTOOLPY_WRITE_FLASH) $(ESPTOOL_ALL_FLASH_ARGS)
 
 app-flash: $(APP_BIN) $(ESPTOOLPY_SRC)
+	@echo "Flashing app to serial port $(ESPPORT), offset $(CONFIG_APP_OFFSET)..."
 	$(Q) $(ESPTOOLPY_WRITE_FLASH) $(CONFIG_APP_OFFSET) $(APP_BIN)
 
-$(eval $(call SubmoduleRequiredForFiles,$(ESPTOOLPY_SRC)))
+$(eval $(call SubmoduleCheck,$(ESPTOOLPY_SRC),$(COMPONENT_PATH)/esptool))
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index 7e0245e92d..1a65e1eeb7 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -39,7 +39,7 @@ endchoice
 
 config FREERTOS_HZ
     int "Tick rate (Hz)"
-    range 1 10000
+    range 1 1000
     default 100
     help
         Select the tick rate at which FreeRTOS does pre-emptive context switching.
diff --git a/components/freertos/panic.c b/components/freertos/panic.c
index b575022369..9400867356 100644
--- a/components/freertos/panic.c
+++ b/components/freertos/panic.c
@@ -79,9 +79,9 @@ inline static void panicPutDec(int a) { }
 int xPortGetCoreID();
 
 void  __attribute__((weak)) vApplicationStackOverflowHook( TaskHandle_t xTask, signed char *pcTaskName ) {
-	panicPutStr("***ERROR*** A stack overflow in task");
+	panicPutStr("***ERROR*** A stack overflow in task ");
 	panicPutStr((char*)pcTaskName);
-	panicPutStr("has been detected.\r\n");
+	panicPutStr(" has been detected.\r\n");
 }
 
 static const char *edesc[]={
diff --git a/make/common.mk b/make/common.mk
index a515584a9b..14aa4074b3 100644
--- a/make/common.mk
+++ b/make/common.mk
@@ -23,19 +23,27 @@ summary := @echo
 details := @true
 endif
 
-# Pseudo-target to handle the case where submodules need to be
-# re-initialised.
+# Pseudo-target to check a git submodule has been properly initialised
 #
-# $(eval $(call SubmoduleRequiredForFiles,FILENAMES)) to create a target that
-# automatically runs 'git submodule update --init' if those files
-# are missing, and fails if this is not possible.
-define SubmoduleRequiredForFiles
+# $(eval $(call SubmoduleCheck,FILENAMES,SUBMODULE_PATH)) to create a target that
+# automatically runs 'git submodule update --init SUBMODULE_PATH' if any of
+# the files in FILENAMES are missing, and fails if this is not possible.
+#
+# Will also print a WARNING if the submodule at SUBMODULE_PATH appears
+# to require an update.
+define SubmoduleCheck
 $(1):
-	@echo "WARNING: Missing submodule for $$@..."
+	@echo "WARNING: Missing submodule $(2) for $$@..."
 	$(Q) [ -d ${IDF_PATH}/.git ] || ( echo "ERROR: esp-idf must be cloned from git to work."; exit 1)
 	$(Q) [ -x $(which git) ] || ( echo "ERROR: Need to run 'git submodule --init' in esp-idf root directory."; exit 1)
 	@echo "Attempting 'git submodule update --init' in esp-idf root directory..."
-	cd ${IDF_PATH} && git submodule update --init
+	cd ${IDF_PATH} && git submodule update --init $(2)
+
+# Parse 'git submodule status' output for out-of-date submodule.
+# Status output prefixes status line with '+' if the submodule commit doesn't match
+ifneq ("$(shell cd ${IDF_PATH} && git submodule status $(2) | grep '^+')","")
+$$(info WARNING: git submodule $2 may be out of date. Run 'git submodule update' to update.)
+endif
 endef
 
 
diff --git a/make/project.mk b/make/project.mk
index 35dccaf248..d91165cfd7 100644
--- a/make/project.mk
+++ b/make/project.mk
@@ -165,7 +165,7 @@ CPPFLAGS = -DESP_PLATFORM -Og -g3 -Wpointer-arith -Werror -Wno-error=unused-func
 CFLAGS = $(CPPFLAGS) -std=gnu99 -g3 -fstrict-volatile-bitfields
 
 # CXXFLAGS uses by C++ only
-CXXFLAGS = $(CPPFLAGS) -Og -std=gnu++11 -g3 -fno-exceptions -fstrict-volatile-bitfields
+CXXFLAGS = $(CPPFLAGS) -Og -std=gnu++11 -g3 -fno-exceptions -fstrict-volatile-bitfields -fno-rtti
 
 export CFLAGS CPPFLAGS CXXFLAGS