PreArm: Gyros inconsistent + 4.5.x

[Jai-GAY]

Bug report

Issue details

Please describe the problem
PreArm: Gyros inconsistent + 4.5.x
Seems like when BRD_BOOT_DELAY is not zero, users will get a PreArm: Gyros inconsistent message during Preflight_Reboot_Shutdown action or Hardware power cycle.
https://discuss.ardupilot.org/t/prearm-gyros-inconsistent-4-5-x/118977

when BRD_BOOT_DELAY,0, it will produce the Gyros inconsistent message immediately after arming the copter. (log - 2024-09-13 15-34-48.zip)

Version
What version was the issue encountered with
Arducopter 4.5.x, logs logged with 4.5.6

Platform
[ ] All
[ ] AntennaTracker
[ x ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type
What type of airframe (flying wing, glider, hex, Y6, octa etc)
FRAME_CLASS,2
FRAME_TYPE,1
Hexa/X

Hardware type
What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc)
CubeOrange 00420019 3239510C 38363839, Here3, Herelink RC

Logs
Please provide a link to any relevant logs that show the issue
https://drive.google.com/file/d/1wvSXEC2BY8dfJfs7YDBRjiktyOkskFmV/view?usp=sharing
https://drive.google.com/file/d/15nJ6LtHEnR49G1Oekl4JzEniEnQwRQ70/view?usp=sharing