made stuff compile on the crio
diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index 5c0411a..a7bbfa5 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -1,12 +1,16 @@
#include "frc971/constants.h"
#include <stddef.h>
-#include <inttypes.h>
#include <math.h>
+#include "aos/common/inttypes.h"
#include "aos/common/messages/RobotState.q.h"
#include "aos/atom_code/output/MotorOutput.h"
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
namespace frc971 {
namespace constants {
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index c49ca44..8fe18f8 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -3,6 +3,9 @@
// wikipedia article is <http://en.wikipedia.org/wiki/State_observer>
+// Stupid vxworks system headers define it which blows up Eigen...
+#undef m_data
+
#include "Eigen/Dense"
template <int number_of_states, int number_of_inputs, int number_of_outputs>