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rate limit most parameter_update subscriptions

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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
This commit is contained in:
Daniel Agar
2021-01-10 21:09:15 -05:00
committed by GitHub
parent 70e503cb91
commit 967d35a6b6
73 changed files with 212 additions and 122 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+4 -1
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@@ -43,6 +43,7 @@
#include <px4_platform_common/posix.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
@@ -63,6 +64,8 @@
#include "ocpoc_mmap.h"
#include "bbblue_pwm_rc.h"
using namespace time_literals;
namespace linux_pwm_out
{
static px4_task_t _task_handle = -1;
@@ -260,7 +263,7 @@ void task_main(int argc, char *argv[])
Mixer::Airmode airmode = Mixer::Airmode::disabled;
update_params(airmode);
uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s};
int rc_channels_sub = -1;