Switch to a batch IMU message
We only send in batches. We would also like to forward these messages
across the network to the logger. The resulting 2000 hz wakeups are
swamping message_gateway, and it isn't worth adding a batch forwarding
mode yet.
Change-Id: I2c2f5bc021a660e932e086965e10bc92f27e2ec1
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 8c81440..ac2a2e8 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -134,6 +134,7 @@
"//frc971/queues:gyro_fbs",
"//frc971/queues:gyro_uid_fbs",
"//frc971/wpilib:imu_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
],
visibility = ["//visibility:public"],
deps = [
@@ -413,6 +414,7 @@
"//aos/util:log_interval",
"//frc971/control_loops:runge_kutta",
"//frc971/queues:gyro_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
"//frc971/zeroing:imu_zeroer",
],
@@ -443,6 +445,7 @@
"//frc971/control_loops:state_feedback_loop",
"//frc971/queues:gyro_fbs",
"//frc971/wpilib:imu_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
"//y2016:constants",
"//y2016/control_loops/drivetrain:polydrivetrain_plants",
] + cpu_select({