Report MPC horizon and drop any cycles at the beginning which are 0
This lets us start firing faster.
Change-Id: Idda068e3b0ca78da6ec5ab422d217d10d9c65e1c
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 1168b88..15201f7 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -488,7 +488,7 @@
status_builder.add_catapult(catapult_status_offset);
status_builder.add_solve_time(catapult_.solve_time());
status_builder.add_shot_count(catapult_.shot_count());
- status_builder.add_mpc_active(catapult_.mpc_active());
+ status_builder.add_mpc_horizon(catapult_.mpc_horizon());
if (catapult_goal != nullptr) {
status_builder.add_shot_position(catapult_goal->shot_position());
status_builder.add_shot_velocity(catapult_goal->shot_velocity());