Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index 9d35a5e..ba4c0c2 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -3,7 +3,6 @@
#include <chrono>
#include "Eigen/Dense"
-#include "aos/logging/matrix_logging.h"
#include "frc971/control_loops/c2d.h"
#include "frc971/control_loops/dlqr.h"
#include "frc971/control_loops/drivetrain/distance_spline.h"
@@ -327,9 +326,7 @@
::Eigen::Matrix<double, 2, 5> K = ::Eigen::Matrix<double, 2, 5>::Zero();
int info = ::frc971::controls::dlqr<5, 2>(A, B, Q, R, &K, &S);
- if (info == 0) {
- AOS_LOG_MATRIX(INFO, "K", K);
- } else {
+ if (info != 0) {
AOS_LOG(ERROR, "Failed to solve %d, controllability: %d\n", info,
controls::Controllability(A, B));
// TODO(austin): Can we be more clever here? Use the last one? We should