diff --git a/aos/controls/control_loop.h b/aos/controls/control_loop.h
index d52a5d1..335a1bb 100644
--- a/aos/controls/control_loop.h
+++ b/aos/controls/control_loop.h
@@ -63,14 +63,13 @@
   }
 
   // Constructs and sends a message on the output queue which sets everything to
-  // a safe state (generally motors off). For some subclasses, this will be a
-  // bit different (ie pistons).
-  // The implementation here creates a new Output message, calls Zero() on it,
-  // and then sends it.
-  virtual void ZeroOutputs();
+  // a safe state.  Default is to set everything to zero.  Override Zero below
+  // to change that behavior.
+  void ZeroOutputs();
 
   // Sets the output to zero.
-  // Over-ride if a value of zero is not "off" for this subsystem.
+  // Override this if a value of zero (or false) is not "off" for this
+  // subsystem.
   virtual void Zero(OutputType *output) { output->Zero(); }
 
   // Runs the loop forever.
@@ -79,9 +78,6 @@
   // Runs one cycle of the loop.
   void Iterate() override;
 
-  // Returns the name of the queue group.
-  const char *name() { return control_loop_->name(); }
-
  protected:
   static void Quit(int /*signum*/) {
     run_ = false;
@@ -101,9 +97,6 @@
                             OutputType *output,
                             StatusType *status) = 0;
 
-  T *queue_group() { return control_loop_; }
-  const T *queue_group() const { return control_loop_; }
-
  private:
   static constexpr ::std::chrono::milliseconds kStaleLogInterval =
       ::std::chrono::milliseconds(100);