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/wpilib/BUILD b/frc971/wpilib/BUILD
index bcdd2ce..734a231 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -267,6 +267,17 @@
gen_reflections = 1,
)
+flatbuffer_cc_library(
+ name = "imu_batch_fbs",
+ srcs = [
+ "imu_batch.fbs",
+ ],
+ gen_reflections = 1,
+ includes = [
+ ":imu_fbs_includes",
+ ],
+)
+
cc_library(
name = "ADIS16470",
srcs = [
@@ -278,7 +289,9 @@
restricted_to = ["//tools:roborio"],
deps = [
":fpga_time_conversion",
+ ":imu_batch_fbs",
":imu_fbs",
+ "//aos/containers:sized_array",
"//aos/events:event_loop",
"//aos/time",
"//third_party:wpilib",