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PR Summary by QodoStop Secondary Gyro Reads While Blackbox Logging Is Paused
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The condition enabled it for every state above STOPPED, which includes the header states, a log paused from the switch, and the shutdown. None of those write a main frame, so each reading taken there goes nowhere while still costing a transaction on the sensor bus every gyro cycle. Measured in SITL with a counter on the secondary read, armed throughout and the blackbox switch toggled: with the log paused the reads went on at 76 to 95 a second, and now they stop at zero and come back on resume. The zero calibration is untouched, since it is driven by its own condition and runs before arming.
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Test firmware build ready — commit Download firmware for PR #11995 250 targets built. Find your board's
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Follow-up to #11933, which you merged for RC1. Review raised this after the merge and it is right.
What happens
blackboxSetState()turns the secondary gyro on for every state aboveBLACKBOX_STATE_STOPPED:That covers more than logging. The header states,
BLACKBOX_STATE_PAUSED, which is where a log goes when the blackbox switch is turned off in flight, andBLACKBOX_STATE_SHUTTING_DOWNall write no main frame. A reading taken in any of them goes nowhere, and it costs a transaction on the sensor bus every gyro cycle while it lasts. A pilot who switches logging off mid-flight keeps paying for a sensor nobody reads.The change
One condition: the second gyro is read while frames are being written, and not otherwise.
Nothing else changes. The zero calibration does not depend on this flag:
gyroUpdateSecondary()also reads while!gyroCalibrationComplete[GYRO_SECONDARY], which is what measures the zero at startup, before arming. Stopping and restarting the reads does not re-initialise the sensor, does not restart a calibration and has no settling time, since the device is never reconfigured. The first frame after a resume can carry a reading one gyro cycle old, which is under a millisecond.Testing
SITL with a counter on the secondary read, armed throughout, toggling the blackbox switch between running and paused:
The first second of each phase carries the transition, so it sits between the two rates. Both runs produce a log and both resume cleanly. The zero calibration still runs before arming in both, which is the handful of reads visible there.