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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/uavcannode/UavcanNode.hpp
+3 -2
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@@ -65,7 +65,6 @@
#include <uavcan/equipment/power/BatteryInfo.hpp>
#include <uavcan/equipment/range_sensor/Measurement.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
@@ -79,6 +78,8 @@
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/vehicle_gps_position.h>
using namespace time_literals;
/**
* A UAVCAN node.
*/
@@ -179,7 +180,7 @@ private:
hrt_abstime _last_static_temperature_publish{0};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionCallbackWorkItem _battery_status_sub{this, ORB_ID(battery_status)};
uORB::SubscriptionCallbackWorkItem _diff_pressure_sub{this, ORB_ID(differential_pressure)};