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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/power_monitor/ina226/ina226.h
+2 -2
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@@ -45,8 +45,8 @@
#include <lib/perf/perf_counter.h>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <px4_platform_common/i2c_spi_buses.h>
@@ -207,7 +207,7 @@ private:
Battery _battery;
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int read(uint8_t address, int16_t &data);
int write(uint8_t address, uint16_t data);
src/drivers/power_monitor/voxlpm/voxlpm.hpp
+2 -1
View File
@@ -89,6 +89,7 @@
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/power_monitor.h>
@@ -253,7 +254,7 @@ private:
perf_counter_t _comms_errors;
uORB::PublicationMulti<power_monitor_s> _pm_pub_topic{ORB_ID(power_monitor)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
power_monitor_s _pm_status{};