I agree the lack of floating point and the poor ADC are an issue. I designed a high power brushless motor controller using the RP2040 and the FOC loop only runs at 8kHz which is fast enough for my use, but much slower than a higher end board. I just love this processor too much to use something else.
The main advantage to this processor is that it seemingly will never go out of stock (until it’s EOL date). When I started designing the motor controller in early 2022 during the chip shortage, I went to the Digikey “microcontroller” category with no filters and sorted by most in stock. They had millions of RP2040’s - it was the most in stock microcontroller on Digikey. I guess since Raspberry Pi only have a single SKU for their microcontrollers they can just churn them out in huge quantities.
My goal is to stay invested in this product line until an updated rev comes out with a better ADC and floating point. I bet they’re working on it.