diff --git a/.cargo/config.toml b/.cargo/config.toml
index 0a62466ad2..ea1655c19d 100644
--- a/.cargo/config.toml
+++ b/.cargo/config.toml
@@ -2,13 +2,5 @@
 xtask = "run --package xtask --"
 pxtask = "run --package xtask --features rayon --"
 
-[target.thumbv6m-none-eabi]
-runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
-
-[target.thumbv7m-none-eabi]
-runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
-
-[target.'cfg(all(target_arch = "arm", target_os = "none"))']
-rustflags = [
-  "-C", "link-arg=-Tlink.x",
-]
+# Don't define the RUSTFLAGS link.x thing here: it messes
+# up compilation of the usage examples.
diff --git a/rtic/.cargo/config.toml b/rtic/.cargo/config.toml
new file mode 100644
index 0000000000..ddec65047b
--- /dev/null
+++ b/rtic/.cargo/config.toml
@@ -0,0 +1,10 @@
+[target.thumbv6m-none-eabi]
+runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.thumbv7m-none-eabi]
+runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
+
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+rustflags = [
+  "-C", "link-arg=-Tlink.x",
+]
diff --git a/xtask/src/command.rs b/xtask/src/command.rs
index a1c4d2533b..a45cb8ac8b 100644
--- a/xtask/src/command.rs
+++ b/xtask/src/command.rs
@@ -383,6 +383,7 @@ impl<'a> CargoCommand<'a> {
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
+
                 args.extend_from_slice(&[
                     self.command(),
                     "--example",
@@ -407,9 +408,15 @@ impl<'a> CargoCommand<'a> {
                 mode,
             } => {
                 let mut args = vec!["+nightly"];
+
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
+
+                // We need to be in the `rtic` directory to pick up
+                // the correct .cargo/config.toml file
+                args.extend_from_slice(&["-Z", "unstable-options", "-C", "rtic"]);
+
                 args.extend_from_slice(&[
                     self.command(),
                     "--example",
@@ -641,6 +648,11 @@ impl<'a> CargoCommand<'a> {
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
+
+                // We need to be in the `rtic` directory to pick up
+                // the correct .cargo/config.toml file
+                args.extend_from_slice(&["-Z", "unstable-options", "-C", "rtic"]);
+
                 args.extend_from_slice(&[
                     self.command(),
                     "--example",
@@ -694,6 +706,13 @@ impl<'a> CargoCommand<'a> {
             _ => None,
         }
     }
+
+    pub fn print_stdout_intermediate(&self) -> bool {
+        match self {
+            Self::ExampleSize { .. } => true,
+            _ => false,
+        }
+    }
 }
 
 impl BuildMode {
@@ -737,6 +756,10 @@ pub fn run_command(command: &CargoCommand, stderr_mode: OutputMode) -> anyhow::R
     let stderr = String::from_utf8(result.stderr).unwrap_or("Not displayable".into());
     let stdout = String::from_utf8(result.stdout).unwrap_or("Not displayable".into());
 
+    if command.print_stdout_intermediate() && exit_status.success() {
+        log::info!("\n{}", stdout);
+    }
+
     Ok(RunResult {
         exit_status,
         stdout,
@@ -850,9 +873,8 @@ pub fn handle_results(globals: &Globals, results: Vec<FinalRunResult>) -> Result
         .clone()
         .for_each(|(cmd, error)| error!("❌ Failed: {cmd}\n    {}\n{error}", cmd.as_cmd_string()));
 
-    let ecount = errors.count();
-    let cecount = command_errors.count();
-    if ecount != 0 || cecount != 0 {
+    let ecount = errors.count() + command_errors.count();
+    if ecount != 0 {
         log::error!("{ecount} commands failed.");
         Err(())
     } else {
diff --git a/xtask/src/main.rs b/xtask/src/main.rs
index 10499c022c..7077d552bd 100644
--- a/xtask/src/main.rs
+++ b/xtask/src/main.rs
@@ -100,8 +100,8 @@ impl fmt::Display for TestRunError {
             TestRunError::CommandError(e) => {
                 write!(
                     f,
-                    "Command failed with exit status {}: {}",
-                    e.exit_status, e.stdout
+                    "Command failed with exit status {}: {} {}",
+                    e.exit_status, e.stdout, e.stderr
                 )
             }
             TestRunError::PathConversionError(p) => {