Reset task statistics after gyro calibration complete

src/main/scheduler/scheduler.c

@@ -185,6 +185,25 @@ uint32_t getTaskDeltaTime(cfTaskId_e taskId)
     }
 }
 
+void schedulerResetTaskStatistics(cfTaskId_e taskId)
+{
+#ifdef SKIP_TASK_STATISTICS
+    UNUSED(taskId);
+#else
+    if (taskId == TASK_SELF) {
+        currentTask->movingSumExecutionTime = 0;
+        currentTask->totalExecutionTime = 0;
+        currentTask->maxExecutionTime = 0;
+    } else if (taskId < TASK_COUNT) {
+        cfTasks[taskId].movingSumExecutionTime = 0;
+        cfTasks[taskId].totalExecutionTime = 0;
+        cfTasks[taskId].totalExecutionTime = 0;
+    } else {
+        return 0;
+    }
+#endif
+}
+
 void schedulerInit(void)
 {
     queueClear();

src/main/scheduler/scheduler.h

@@ -144,6 +144,7 @@ void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t *taskInfo);
 void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
 void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
 uint32_t getTaskDeltaTime(cfTaskId_e taskId);
+void schedulerResetTaskStatistics(cfTaskId_e taskId);
 
 void schedulerInit(void);
 void scheduler(void);

src/main/sensors/gyro.c

@@ -54,6 +54,8 @@
 #include "io/beeper.h"
 #include "io/statusindicator.h"
 
+#include "scheduler/scheduler.h"
+
 #include "sensors/sensors.h"
 #include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
@@ -359,6 +361,7 @@ static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
     }
 
     if (isOnFinalGyroCalibrationCycle()) {
+        schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
         beeper(BEEPER_GYRO_CALIBRATED);
     }
     calibratingG--;
@@ -403,11 +406,11 @@ void gyroUpdate(void)
     const bool calibrationComplete = isGyroCalibrationComplete();
     if (calibrationComplete) {
 #if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
-            // SPI-based gyro so can read and update in ISR
+        // SPI-based gyro so can read and update in ISR
-            if (gyroConfig->gyro_isr_update) {
+        if (gyroConfig->gyro_isr_update) {
-                mpuGyroSetIsrUpdate(&gyro.dev, gyroUpdateISR);
+            mpuGyroSetIsrUpdate(&gyro.dev, gyroUpdateISR);
-                return;
+            return;
-            }
+        }
 #endif
 #ifdef DEBUG_MPU_DATA_READY_INTERRUPT
         debug[3] = (uint16_t)(micros() & 0xffff);