You are correct in the fact you need your black tank full before dumping. But! I broke that rule several years ago and (for me) it does not matter how much is in the black tank. I dump every day when camping and here's how I do it, and my black tank is cleaned out very well every time.
I'm assuming you have a travel trailer since you posted in this forum. And I'm assuming your black and grey tanks discharge through the same outlet, 2 valves, but 1 outlet. If so, here's what you can do to successfully clean the black tank, no matter how much or little is in the tank; you backflush the gray water into the black tank and then drain the black tank. I repeat this 3 times, or as long as the gray water lasts.
First, this saves water and makes use of the gray water.
Second, it REALLY pulls "stuff" from the black tank.
The secret to success is to purchase a "Flush King" style valve with the clear section and attach to your tanks outlet. There are several knock-off brands that are cheaper and do exactly the same thing. Mine is not a "Flush King", but it's basically the same thing.
The second thing you need is water in the gray tank. I found out that 4 showers add just about the right amount needed to do a good back flush of te black tank. Remember, shower water goes into the gray tank.
You can do it with less water in the gray tank, you may only get 1 back flush, but that will be enough to clean the tanks. Repeat back flushes ALWAYS pulls more out of the black.
Steps:
Step 1: Attach Flush King (all 3 valves are closed).
Step 2: Attach sewer hose to Flush King and the campground sewer.
Step 3: Open the Flush King valve and the black tank valve and drain the black tank completely. (Here again, it doesn't matter how full the tank is.
Step 4: Close the Flush King valve, leave the black tank valve open, and now open the gray valve. This will flush the gray water into the black tank with a lot of force dislodging EVERYTHING remaining.
Step 5: Count to 10 so the two tanks equalize.
Step 6: Close the Gray valve.
Step 7: Open the Flush King valve. This will now drain the black tank again pulling more "stuff" out. You can see it with that clear section in the Flush King. You'll be very surprised how much more comes out, even if your black tank was 100% full, more will come out when you backflush.
Step 8: When the black tank quits running again, close the Flush King valve, leaving the black tank valve open, and open the gray again and repeat the process again. The second back flush will pull even MORE out!
Step 9: Repeat a 3rd time if you have sufficient gray water.
Here's a photo of the set up:

A- is the Flush King Valve
B- is my black tank valve
C- is my gray tank valve
D- is a hose you can attach to your Flush King. By closing the Flush King valve and leaving either tank valve open, you can add water to the tanks and back flush that way, it's just a lot slower
E- is the sewer hose
Steps for a 1 time flush:
Step 1: Open A, open B, Close C
Step 2: Close A, open B, open C
Step 3: Close C, open A, open B
Once you've done this, I think you'll find yourself doing it every time you drain your black tank. And the nice thing is, you can back flush without having to depend upon a full Black Tank.
As an added precaution, after draining your black tank and doing the back flush, add a couple gallons to the black tank and drive to your next destination. The added water to the tank while in transit will shake up anything remaining, and wash inside the tank. Add a few squirts of Dawn Dish washing liquid too, and your tanks will always be clean. Not to mention getting the inside of your tank nice and slippery!