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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/uavcan/uavcan_main.hpp
+4 -1
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@@ -68,8 +68,11 @@
#include <lib/perf/perf_counter.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
using namespace time_literals;
class UavcanNode;
/**
@@ -215,7 +218,7 @@ private:
bool _idle_throttle_when_armed{false};
int32_t _idle_throttle_when_armed_param{0};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;