Cortex-M4/M33 are pretty widely deployed on microcontrollers with control hardware, for example the STM32G4 and Reneasas RA series.
There's still a few reasons not to use it, though. Saving and restoring the float registers adds interrupt handling overhead. If you can fit into 16 bit integers, you can also use the 2 way SIMD instructions and get at least double the throughput.
Finally, floats themselves have a lot of footguns. You have to be very careful about propagating NaNs etc into control loops. It's also really easy (in C) to accidentally promote to double.
There's still a few reasons not to use it, though. Saving and restoring the float registers adds interrupt handling overhead. If you can fit into 16 bit integers, you can also use the 2 way SIMD instructions and get at least double the throughput.
Finally, floats themselves have a lot of footguns. You have to be very careful about propagating NaNs etc into control loops. It's also really easy (in C) to accidentally promote to double.