Reduce excessive AOS_LOG's
Also, increase the message rate for the log message channel.
Change-Id: Ic5608717458f972a44ea97b5c95de22b0b9663fd
diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index 4da3dee..70ceb1a 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -538,15 +538,11 @@
// collect more info about when this breaks down from logs.
K = ::Eigen::Matrix<double, 2, 5>::Zero();
}
- ::Eigen::EigenSolver<::Eigen::Matrix<double, 5, 5>> eigensolver(A - B * K);
- const auto eigenvalues = eigensolver.eigenvalues();
- AOS_LOG(DEBUG,
- "Eigenvalues: (%f + %fj), (%f + %fj), (%f + %fj), (%f + %fj), (%f + "
- "%fj)\n",
- eigenvalues(0).real(), eigenvalues(0).imag(), eigenvalues(1).real(),
- eigenvalues(1).imag(), eigenvalues(2).real(), eigenvalues(2).imag(),
- eigenvalues(3).real(), eigenvalues(3).imag(), eigenvalues(4).real(),
- eigenvalues(4).imag());
+ if (VLOG_IS_ON(1)) {
+ ::Eigen::EigenSolver<::Eigen::Matrix<double, 5, 5>> eigensolver(A - B * K);
+ const auto eigenvalues = eigensolver.eigenvalues();
+ LOG(INFO) << "Eigenvalues: " << eigenvalues;
+ }
return K;
}