Fixed unnecessarily long startup time due to gyro detection.

src/main/cli/cli.c

@@ -4644,6 +4644,19 @@ static void cliStatus(const char *cmdName, char *cmdline)
     cliPrintLinef("Config size: %d, Max available config: %d", getEEPROMConfigSize(), getEEPROMStorageSize());
 
     // Sensors
+    cliPrint("Gyros detected:");
+    bool found = false;
+    for (unsigned pos = 0; pos < 7; pos++) {
+        if (gyroConfig()->gyrosDetected & BIT(pos)) {
+            if (found) {
+                cliPrint(",");
+            } else {
+                found = true;
+            }
+            cliPrintf(" gyro %d", pos + 1);
+        }
+    }
+    cliPrintLinefeed();
 
 #if defined(USE_SENSOR_NAMES)
     const uint32_t detectedSensorsMask = sensorsMask();

src/main/sensors/gyro.h

@@ -49,12 +49,12 @@ typedef union gyroLowpassFilter_u {
 } gyroLowpassFilter_t;
 
 typedef enum gyroDetectionFlags_e {
-    NO_GYROS_DETECTED = 0,
-    DETECTED_GYRO_1 = (1 << 0),
+    GYRO_NONE_MASK = 0,
+    GYRO_1_MASK = BIT(0),
 #if defined(USE_MULTI_GYRO)
-    DETECTED_GYRO_2 = (1 << 1),
-    DETECTED_BOTH_GYROS = (DETECTED_GYRO_1 | DETECTED_GYRO_2),
-    DETECTED_DUAL_GYROS = (1 << 7), // All gyros are of the same hardware type
+    GYRO_2_MASK = BIT(1),
+    GYRO_ALL_MASK = (GYRO_1_MASK | GYRO_2_MASK),
+    GYRO_IDENTICAL_MASK = BIT(7), // All gyros are of the same hardware type
 #endif
 } gyroDetectionFlags_t;
 
@@ -195,6 +195,8 @@ typedef struct gyroConfig_s {
     uint16_t dyn_notch_min_hz;
 
     uint8_t  gyro_filter_debug_axis;
+
+    uint8_t gyrosDetected; // What gyros should detection be attempted for on startup. Automatically set on first startup.
 } gyroConfig_t;
 
 PG_DECLARE(gyroConfig_t, gyroConfig);

src/main/sensors/gyro_init.c

@@ -32,6 +32,8 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
+#include "config/config.h"
+
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/accgyro/accgyro_mpu.h"
@@ -80,7 +82,7 @@
 #define ACTIVE_GYRO (&gyro.gyroSensor1)
 #endif
 
-static gyroDetectionFlags_t gyroDetectionFlags = NO_GYROS_DETECTED;
+static gyroDetectionFlags_t gyroDetectionFlags = GYRO_NONE_MASK;
 
 static uint16_t calculateNyquistAdjustedNotchHz(uint16_t notchHz, uint16_t notchCutoffHz)
 {
@@ -565,45 +567,54 @@ bool gyroInit(void)
         break;
     }
 
-    gyroDetectionFlags = NO_GYROS_DETECTED;
+    gyroDetectionFlags = GYRO_NONE_MASK;
+    uint8_t gyrosToScan = gyroConfig()->gyrosDetected;
 
     gyro.gyroToUse = gyroConfig()->gyro_to_use;
     gyro.gyroDebugAxis = gyroConfig()->gyro_filter_debug_axis;
 
-    if (gyroDetectSensor(&gyro.gyroSensor1, gyroDeviceConfig(0))) {
-        gyroDetectionFlags |= DETECTED_GYRO_1;
+    if ((!gyrosToScan || (gyrosToScan & GYRO_1_MASK)) && gyroDetectSensor(&gyro.gyroSensor1, gyroDeviceConfig(0))) {
+        gyroDetectionFlags |= GYRO_1_MASK;
     }
 
 #if defined(USE_MULTI_GYRO)
-    if (gyroDetectSensor(&gyro.gyroSensor2, gyroDeviceConfig(1))) {
-        gyroDetectionFlags |= DETECTED_GYRO_2;
+    if ((!gyrosToScan || (gyrosToScan & GYRO_2_MASK)) && gyroDetectSensor(&gyro.gyroSensor2, gyroDeviceConfig(1))) {
+        gyroDetectionFlags |= GYRO_2_MASK;
     }
 #endif
 
-    if (gyroDetectionFlags == NO_GYROS_DETECTED) {
+    if (gyroDetectionFlags == GYRO_NONE_MASK) {
         return false;
     }
 
+    bool eepromWriteRequired = false;
+    if (!gyrosToScan) {
+        gyroConfigMutable()->gyrosDetected = gyroDetectionFlags;
+        eepromWriteRequired = true;
+    }
+
 #if defined(USE_MULTI_GYRO)
-    if ((gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH && !((gyroDetectionFlags & DETECTED_BOTH_GYROS) == DETECTED_BOTH_GYROS))
-        || (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_1 && !(gyroDetectionFlags & DETECTED_GYRO_1))
-        || (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_2 && !(gyroDetectionFlags & DETECTED_GYRO_2))) {
-        if (gyroDetectionFlags & DETECTED_GYRO_1) {
+    if ((gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH && !((gyroDetectionFlags & GYRO_ALL_MASK) == GYRO_ALL_MASK))
+        || (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_1 && !(gyroDetectionFlags & GYRO_1_MASK))
+        || (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_2 && !(gyroDetectionFlags & GYRO_2_MASK))) {
+        if (gyroDetectionFlags & GYRO_1_MASK) {
             gyro.gyroToUse = GYRO_CONFIG_USE_GYRO_1;
         } else {
             gyro.gyroToUse = GYRO_CONFIG_USE_GYRO_2;
         }
 
         gyroConfigMutable()->gyro_to_use = gyro.gyroToUse;
+        eepromWriteRequired = true;
     }
 
     // Only allow using both gyros simultaneously if they are the same hardware type.
-    if (((gyroDetectionFlags & DETECTED_BOTH_GYROS) == DETECTED_BOTH_GYROS) && gyro.gyroSensor1.gyroDev.gyroHardware == gyro.gyroSensor2.gyroDev.gyroHardware) {
-        gyroDetectionFlags |= DETECTED_DUAL_GYROS;
+    if (((gyroDetectionFlags & GYRO_ALL_MASK) == GYRO_ALL_MASK) && gyro.gyroSensor1.gyroDev.gyroHardware == gyro.gyroSensor2.gyroDev.gyroHardware) {
+        gyroDetectionFlags |= GYRO_IDENTICAL_MASK;
     } else if (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
         // If the user selected "BOTH" and they are not the same type, then reset to using only the first gyro.
         gyro.gyroToUse = GYRO_CONFIG_USE_GYRO_1;
         gyroConfigMutable()->gyro_to_use = gyro.gyroToUse;
+        eepromWriteRequired = true;
     }
 
     if (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
@@ -613,6 +624,10 @@ bool gyroInit(void)
     }
 #endif
 
+    if (eepromWriteRequired) {
+        writeEEPROM();
+    }
+
     if (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
         gyroInitSensor(&gyro.gyroSensor1, gyroDeviceConfig(0));
         gyro.gyroHasOverflowProtection =  gyro.gyroHasOverflowProtection && gyro.gyroSensor1.gyroDev.gyroHasOverflowProtection;

src/test/unit/cli_unittest.cc

@@ -52,6 +52,7 @@ extern "C" {
     #include "rx/rx.h"
     #include "scheduler/scheduler.h"
     #include "sensors/battery.h"
+    #include "sensors/gyro.h"
 
     void cliSet(const char *cmdName, char *cmdline);
     int cliGetSettingIndex(char *name, uint8_t length);
@@ -85,6 +86,7 @@ extern "C" {
     PG_REGISTER_ARRAY(rxChannelRangeConfig_t, NON_AUX_CHANNEL_COUNT, rxChannelRangeConfigs, PG_RX_CHANNEL_RANGE_CONFIG, 0);
     PG_REGISTER_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
     PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
+    PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
 
     PG_REGISTER_WITH_RESET_FN(int8_t, unitTestData, PG_RESERVED_FOR_TESTING_1, 0);
 }

src/test/unit/sensor_gyro_unittest.cc

@@ -162,4 +162,5 @@ timeDelta_t getGyroUpdateRate(void) {return gyro.targetLooptime;}
 void sensorsSet(uint32_t) {}
 void schedulerResetTaskStatistics(taskId_e) {}
 int getArmingDisableFlags(void) {return 0;}
+void writeEEPROM(void) {}
 }