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Eliminates: 1 function call + internal state check per gyro sample #11398

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Merged
DzikuVx merged 2 commits into from
Mar 17, 2026
Merged

Eliminates: 1 function call + internal state check per gyro sample #11398

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ee7d8f5
Eliminates: 1 function call + internal state check per gyro sample
Mar 4, 2026
7119138
Merge remote-tracking branch 'origin/maintenance-10.x' into dzikuvx-g…
Mar 17, 2026
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12 changes: 11 additions & 1 deletion src/main/sensors/gyro.c
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,9 @@ STATIC_FASTRAM filter_t gyroLpfState[XYZ_AXIS_COUNT];
STATIC_FASTRAM filterApplyFnPtr gyroLpf2ApplyFn;
STATIC_FASTRAM filter_t gyroLpf2State[XYZ_AXIS_COUNT];

// Cached calibration status to eliminate function call in hot path
STATIC_FASTRAM bool gyroCalibrationComplete;

STATIC_FASTRAM filterApplyFnPtr gyroLuluApplyFn;
STATIC_FASTRAM filter_t gyroLuluState[XYZ_AXIS_COUNT];

Expand Down Expand Up @@ -293,6 +296,7 @@ static void gyroInitFilters(void)
bool gyroInit(void)
{
memset(&gyro, 0, sizeof(gyro));
gyroCalibrationComplete = false;

// Set inertial sensor tag (for dual-gyro selection)
#ifdef USE_DUAL_GYRO
Expand Down Expand Up @@ -352,6 +356,7 @@ void gyroStartCalibration(void)
}
#endif

gyroCalibrationComplete = false;
zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, CALIBRATING_GYRO_MORON_THRESHOLD, false);
}

Expand Down Expand Up @@ -392,6 +397,9 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *dev, zeroCalibrationVe
setGyroCalibration(dev->gyroZero);
#endif

// Cache completion status to avoid function call in hot path
gyroCalibrationComplete = true;

LOG_DEBUG(GYRO, "Gyro calibration complete (%d, %d, %d)", (int16_t) dev->gyroZero[X], (int16_t) dev->gyroZero[Y], (int16_t) dev->gyroZero[Z]);
schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
} else {
Expand Down Expand Up @@ -421,14 +429,16 @@ static bool FAST_CODE NOINLINE gyroUpdateAndCalibrate(gyroDev_t * gyroDev, zeroC
if (!gyroConfig()->init_gyro_cal_enabled) {
// marks that the gyro calibration has ended
gyroCalibration[0].params.state = ZERO_CALIBRATION_DONE;
gyroCalibrationComplete = true;
// pass the calibration values
gyroDev->gyroZero[X] = gyroConfig()->gyro_zero_cal[X];
gyroDev->gyroZero[Y] = gyroConfig()->gyro_zero_cal[Y];
gyroDev->gyroZero[Z] = gyroConfig()->gyro_zero_cal[Z];
}
#endif

if (zeroCalibrationIsCompleteV(gyroCal)) {
// Use cached status to avoid function call in hot path
if (gyroCalibrationComplete) {
float gyroADCtmp[XYZ_AXIS_COUNT];

//Apply zero calibration with CMSIS DSP
Expand Down
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