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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/tap_esc/tap_esc.cpp
+4 -1
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@@ -48,6 +48,7 @@
#include <perf/perf_counter.h>
#include <px4_platform_common/module_params.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>
@@ -78,6 +79,8 @@
# define TAP_ESC_CTRL_UORB_UPDATE_INTERVAL 2 // [ms] min: 2, max: 100
#endif
using namespace time_literals;
/*
* This driver connects to TAP ESCs via serial.
*/
@@ -115,7 +118,7 @@ private:
int _armed_sub = -1;
int _test_motor_sub = -1;
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
orb_advert_t _outputs_pub = nullptr;
actuator_outputs_s _outputs = {};