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Merged
sensei-hacker merged 14 commits into from
Sep 21, 2026
Merged

blackbox: optionally log the second gyro on dual-IMU boards #11933

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bbc0553
Merge pull request #11879 from iNavFlight/release/9.1
sensei-hacker Sep 8, 2026
f960d98
gyro: honour the zeroCalibrationVector_t passed to gyroUpdateAndCalib…
MrScothh Sep 12, 2026
7a8d834
blackbox: optionally log the second gyro on dual-IMU boards
MrScothh Sep 12, 2026
5b49c62
gyro: address review findings on the secondary-gyro path
MrScothh Sep 12, 2026
4517c9e
gyro: scale the secondary calibration threshold to its own sensor
MrScothh Sep 13, 2026
f6493a3
gyro: say where appending to a parameter group stops being free
MrScothh Sep 14, 2026
c6a8f9e
Merge maintenance-10.x into the secondary-gyro branch
MrScothh Sep 16, 2026
e5a4301
Drop a line-ending-only change to an unrelated target
MrScothh Sep 16, 2026
a524043
Give the secondary gyro its own calibration state, and one switch ins…
MrScothh Sep 17, 2026
23c4a8e
Read the secondary gyro only while a log is being written
MrScothh Sep 19, 2026
fd667a3
blackbox: let the setting decide the second gyro field, not the sensor
MrScothh Sep 20, 2026
b89f111
Merge maintenance-10.x into the secondary-gyro branch
MrScothh Sep 20, 2026
9421526
gyro: keep the secondary read out of the fast section
MrScothh Sep 20, 2026
15aaf4c
gyro: give the primary back its constant indices in the fast section
MrScothh Sep 20, 2026
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8 changes: 8 additions & 0 deletions docs/Blackbox.md
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Expand Up @@ -168,6 +168,14 @@ The CLI command `blackbox` allows setting which Blackbox fields are recorded to
* `PEAKS_Y` - Yaw axis noise peak
* `SERVOS` - Servo outputs (for planes, tris, etc.)

On a board with two IMUs, `gyro_secondary_enabled` adds `gyroRaw2[0..2]`, the second
sensor's rates in deg/s, in the same body frame as `gyroRaw` and with that sensor's
own alignment already applied. It has no flag of its own here: that setting is the
switch, and nothing else puts the field in the log, not even another feature that
starts the second sensor for its own reasons. With the setting on, the flight
controller reads that sensor only while a log is being written. Include `GYRO_RAW` as well to compare the two sensors, since
`gyroADC` is filtered and `gyroRaw2` is not.

Usage:

* `blackbox` currently enabled Blackbox fields
Expand Down
10 changes: 10 additions & 0 deletions docs/Settings.md
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Expand Up @@ -2176,6 +2176,16 @@ Software based gyro main lowpass filter. Value is cutoff frequency (Hz)

---

### gyro_secondary_enabled

On a board with two IMUs, also log the one `gyro_to_use` did not select, to Blackbox as `gyroRaw2`. It is read only while it measures its zero after power-up and while a log is being written, one extra SPI transaction per gyro cycle, and never reaches attitude estimation or the PID loops. While this is off the second IMU is not initialised at all. Log `GYRO_RAW` as well to compare the two sensors.

| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |

---

### gyro_to_use

On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro
Expand Down
39 changes: 38 additions & 1 deletion src/main/blackbox/blackbox.c
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Expand Up @@ -353,6 +353,11 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"gyroRaw", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW},
{"gyroRaw", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW},
{"gyroRaw", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW},
#ifdef USE_DUAL_GYRO
{"gyroRaw2", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_SECONDARY},
{"gyroRaw2", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_SECONDARY},
{"gyroRaw2", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_SECONDARY},
#endif

{"gyroPeakRoll", 0, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL},
{"gyroPeakRoll", 1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL},
Expand Down Expand Up @@ -565,6 +570,9 @@ typedef struct blackboxMainState_s {
int16_t rcCommand[4];
int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t gyroRaw[XYZ_AXIS_COUNT];
#ifdef USE_DUAL_GYRO
int16_t gyroRaw2[XYZ_AXIS_COUNT];
#endif

int16_t gyroPeaksRoll[DYN_NOTCH_PEAK_COUNT];
int16_t gyroPeaksPitch[DYN_NOTCH_PEAK_COUNT];
Expand Down Expand Up @@ -674,7 +682,9 @@ static struct {
// Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
static uint64_t blackboxConditionCache;

STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
// The cache holds a bit for every condition up to and including LAST, which is NEVER, so
// it needs LAST + 1 bits. A dual-gyro target takes the 64th
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) > FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);

static uint32_t blackboxIFrameInterval;
static uint32_t blackboxIteration;
Expand Down Expand Up @@ -853,6 +863,13 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW:
return blackboxIncludeFlag(BLACKBOX_FEATURE_GYRO_RAW);

#ifdef USE_DUAL_GYRO
case FLIGHT_LOG_FIELD_CONDITION_GYRO_SECONDARY:
// The setting that asks for the field, not merely a second sensor that is
// running: anything else that starts one would put it in the log as well
return gyroConfig()->gyro_secondary_enabled && gyro.secondaryInitialized;
#endif

case FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL:
return blackboxIncludeFlag(BLACKBOX_FEATURE_GYRO_PEAKS_ROLL);

Expand Down Expand Up @@ -921,6 +938,11 @@ static void blackboxSetState(BlackboxState newState)
;
}
blackboxState = newState;

#ifdef USE_DUAL_GYRO
// The second gyro is read only for the log, so only while there is one
gyroSetSecondaryLogging(newState > BLACKBOX_STATE_STOPPED);
Comment on lines +942 to +944

@qodo-free-for-open-source-projects qodo-free-for-open-source-projects Bot Sep 21, 2026

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Remediation recommended

4. Paused logs still read the second gyro 🐞 Bug ➹ Performance

blackboxSetState() enables gyroSecondaryLogging for every state numerically above
BLACKBOX_STATE_STOPPED, rather than only BLACKBOX_STATE_RUNNING. Header generation, paused
logging, and shutdown therefore keep gyroUpdateSecondary() issuing SPI reads even though paused
and shutdown paths write no main frames that could contain gyroRaw2.
Agent Prompt 
## Issue description
`gyroSetSecondaryLogging(newState > BLACKBOX_STATE_STOPPED)` enables the secondary IMU while headers are emitted, while Blackbox is paused, and while it is shutting down. Those states do not write main log frames, so the extra gyro transaction cannot produce `gyroRaw2` data and contradicts the intended logging-only sampling behavior.

## Fix Focus Areas
- src/main/blackbox/blackbox.c[942-944]

## Recommended Fix
Enable secondary sampling only when entering `BLACKBOX_STATE_RUNNING`, and disable it for every other state. Preserve the existing calibration behavior: `gyroUpdateSecondary()` already continues reading an incomplete secondary calibration even when logging is disabled.

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

#endif
}

static void writeIntraframe(void)
Expand Down Expand Up @@ -1032,6 +1054,12 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->gyroRaw, XYZ_AXIS_COUNT);
}

#ifdef USE_DUAL_GYRO
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_GYRO_SECONDARY)) {
blackboxWriteSigned16VBArray(blackboxCurrent->gyroRaw2, XYZ_AXIS_COUNT);
}
#endif

if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL)) {
blackboxWriteUnsignedVB(blackboxCurrent->gyroPeaksRoll[0]);
blackboxWriteUnsignedVB(blackboxCurrent->gyroPeaksRoll[1]);
Expand Down Expand Up @@ -1306,6 +1334,12 @@ static void writeInterframe(void)
blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, gyroRaw), XYZ_AXIS_COUNT);
}

#ifdef USE_DUAL_GYRO
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_GYRO_SECONDARY)) {
blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, gyroRaw2), XYZ_AXIS_COUNT);
}
#endif

if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL)) {
blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, gyroPeaksRoll), DYN_NOTCH_PEAK_COUNT);
}
Expand Down Expand Up @@ -1759,6 +1793,9 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
blackboxCurrent->accADC[i] = constrain(lrintf(acc.accADCf[i] * acc.dev.acc_1G), -32678, 32767);
blackboxCurrent->gyroRaw[i] = lrintf(gyro.gyroRaw[i]);
#ifdef USE_DUAL_GYRO
blackboxCurrent->gyroRaw2[i] = lrintf(gyro.gyroRaw2[i]);
#endif

#ifdef USE_DYNAMIC_FILTERS
for (uint8_t i = 0; i < DYN_NOTCH_PEAK_COUNT ; i++) {
Expand Down
3 changes: 3 additions & 0 deletions src/main/blackbox/blackbox_fielddefs.h
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Expand Up @@ -98,6 +98,9 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_RC_DATA,
FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND,
FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW,
#ifdef USE_DUAL_GYRO
FLIGHT_LOG_FIELD_CONDITION_GYRO_SECONDARY,
#endif

FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL,
FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_PITCH,
Expand Down
6 changes: 6 additions & 0 deletions src/main/fc/settings.yaml
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Expand Up @@ -334,6 +334,12 @@ groups:
min: 0
max: 2
default_value: 0
- name: gyro_secondary_enabled
description: "On a board with two IMUs, also log the one `gyro_to_use` did not select, to Blackbox as `gyroRaw2`. It is read only while it measures its zero after power-up and while a log is being written, one extra SPI transaction per gyro cycle, and never reaches attitude estimation or the PID loops. While this is off the second IMU is not initialised at all. Log `GYRO_RAW` as well to compare the two sensors."
default_value: OFF
condition: USE_DUAL_GYRO
field: gyro_secondary_enabled
type: bool
- name: setpoint_kalman_enabled
description: "Enable Kalman filter on the gyro data"
default_value: ON
Expand Down
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