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/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 1bd760f..0e06057 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -110,6 +110,15 @@
],
)
+aos_config(
+ name = "replay_config",
+ src = "drivetrain_replay_config.json",
+ visibility = ["//visibility:public"],
+ deps = [
+ "//y2020:config",
+ ],
+)
+
cc_test(
name = "localizer_test",
srcs = ["localizer_test.cc"],
@@ -131,7 +140,7 @@
name = "drivetrain_replay_test",
srcs = ["drivetrain_replay_test.cc"],
data = [
- "//y2020:config.json",
+ ":replay_config.json",
"@drivetrain_replay//file:spinning_wheels_while_still.bfbs",
],
deps = [