[MrScothh]

The log header declares motor[0..7], but the I and P frames write getMotorCount() motors, up to MAX_SUPPORTED_MOTORS (12). With 9 to 12 motors and motor logging on, every frame carries more values than the header describes, and nothing in the log decodes: on SITL with a 12-motor mixer, blackbox_decode read none of 681 frames.

This declares motor[8..11] behind four more conditions, AT_LEAST_MOTORS_9 to 12, with the same predictors and encodings as motors 1 to 7. The condition cache was a uint64_t that the dual-gyro targets already fill to the last bit, so it becomes an array of 32-bit words sized from FLIGHT_LOG_FIELD_CONDITION_LAST, and a static assert ties MAX_SUPPORTED_MOTORS to the 12 motors the header can now declare.

With 8 motors or fewer the header is the same as before. The MSP enum reference (inav_enums.json, inav_enums_ref.md) gets the new condition values; I regenerated only this enum's section, since a full regeneration also rewrites unrelated enums that were already out of date.

Testing

SITL, blackbox to a file, decoded with the current blackbox_decode:

mixer	header	frames decoded	rows
12 motors, maintenance-10.x	motor[0..7]	0 (681 failed)	0
12 motors, this PR	motor[0..11]	41 I + 606 P	647
8 motors, both	the same field lines	684 and 685

Unit tests pass. Built for MATEKF405SE, MATEKF722SE, KAKUTEF7, KAKUTEF7HDV, MATEKH743 and TBS_LUCID_H7_WING: flash -32 to -176 B (testing a bit in a 32-bit word takes less code than in a 64-bit one), RAM +0 to +8 B, ITCM unchanged on KAKUTEF7 and KAKUTEF7HDV.

Not tested on a real craft with more than 8 motors: if you fly one with the blackbox on, I'd like to know whether your logs decode with this.

blackbox-log-viewer reads these logs, but its motor lists stop at 8: it labels motor[7] "motor[8]" next to the real motor[8], shows motors 9 to 12 as raw values instead of percent, and leaves them out of the per-motor current and the activity bar.

Related: #12126, another case where P frames didn't match what decoders read from the header.

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PR Summary by Qodo

Blackbox: declare up to 12 motors in log headers

🐞 Bug fix 📝 Documentation 🕐 20-40 Minutes

AI Description

• Declare motor fields through motor[11] so headers match I and P frames on 9–12-motor mixers.
• Expand the condition cache to accommodate the new fields and guard against unsupported motor
 counts.
• Update the MSP enum references to reflect the added conditions and shifted values.

Diagram

graph TD
    M["Mixer motor count"] --> T{"Count and flag?"} --> C["Condition cache"] --> D["Motor field definitions"] --> H["Log header"] --> L["Blackbox decoder"]
    M --> F["I/P frames"] --> L
    C --> F

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High-Level Assessment

Extend the existing conditional field definitions rather than generate motor header fields dynamically: this preserves the established predictors and encodings while fixing the header/frame mismatch. Sizing the cache from the last condition avoids another fixed-width limit.

Files changed (4) +138 / -118

Bug fix (2) +19 / -12

blackbox.cMatch blackbox motor headers to frame payloads +15/-12

Match blackbox motor headers to frame payloads

• Defines conditional header fields for motor[8] through motor[11] using the existing motor predictors and encodings. Replaces the fixed 64-bit condition cache with a size-derived array of 32-bit words and asserts that the supported motor count does not exceed the declared fields.

src/main/blackbox/blackbox.c

blackbox_fielddefs.hAdd conditions for 9–12 active motors +4/-0

Add conditions for 9–12 active motors

• Extends the contiguous motor-count condition enum so the new header fields can be selected by active motor count.

src/main/blackbox/blackbox_fielddefs.h

Documentation (2) +119 / -106

inav_enums.jsonUpdate machine-readable flight-log condition values +61/-53

Update machine-readable flight-log condition values

• Adds conditions for motors 9–12 and shifts subsequent enum values. Also records the conditional dual-gyro enumerator in this enum section.

docs/development/msp/inav_enums.json

inav_enums_ref.mdUpdate the flight-log condition reference table +58/-53

Update the flight-log condition reference table

• Documents the four new motor thresholds and renumbered conditions, including the conditional dual-gyro entry.

docs/development/msp/inav_enums_ref.md

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[github-actions]

RAM / Flash usage vs. base commit e87050f — commit dbde203

Using the nearest available size baseline — the PR's exact base commit has no stored baseline yet.

Target	Flash Δ	RAM Δ
MATEKF405	-144 B (-0.02%)	CCM: ±0 B (±0.00%) RAM: +8 B (+0.01%)
MATEKF722	+40 B (+0.01%)	ITCM_RAM: ±0 B (±0.00%) RAM: +8 B (+0.01%) TCM: ±0 B (±0.00%)
MATEKF765	-56 B (-0.01%)	DTCM_RAM: ±0 B (±0.00%) SRAM1: +8 B (+0.01%)
MATEKH743	-112 B (-0.01%)	D2_RAM: ±0 B (±0.00%) DTCM_RAM: ±0 B (±0.00%) ITCM_RAM: ±0 B (±0.00%) RAM: ±0 B (±0.00%)

See RAM/flash optimization guide for techniques to reduce usage.

[github-actions]

Test firmware build ready — commit dbde203

Download firmware for PR #12127

251 targets built. Find your board's .hex file by name on that page (e.g. MATEKF405SE.hex). Files are individually downloadable — no GitHub login required.

Development build for testing only. Use Full Chip Erase when flashing.