added a place to check gyro status every packet
diff --git a/frc971/input/usb_receiver.cc b/frc971/input/usb_receiver.cc
index 81b960e..d119d0a 100644
--- a/frc971/input/usb_receiver.cc
+++ b/frc971/input/usb_receiver.cc
@@ -38,6 +38,8 @@
return;
}
+ PacketReceived(timestamp);
+
if (phase_locker_.IsCurrentPacketGood(transfer_received_time_, frame_number_)) {
LOG(DEBUG, "processing dips %hhx frame %" PRId32 " at %f\n",
data()->dip_switches, data()->frame_number, timestamp.ToSeconds());
@@ -56,6 +58,9 @@
good_phase_early_ = good_phase_late_ = 0;
}
+void USBReceiver::PacketReceived(const ::aos::time::Time &/*timestamp*/) {}
+void USBReceiver::ProcessData(const ::aos::time::Time &/*timestamp*/) {}
+
bool USBReceiver::PhaseLocker::IsCurrentPacketGood(
const ::aos::time::Time &received_time,
uint32_t sequence) {