rate limit most parameter_update subscriptions

- 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

src/examples/fixedwing_control/main.cpp

@@ -55,6 +55,7 @@
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
@@ -65,7 +66,8 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/uORB.h>
+
+using namespace time_literals;
 
 /* Prototypes */
 
@@ -315,7 +317,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int global_sp_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 
-	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	/* Setup of loop */
 

src/examples/gyro_fft/GyroFFT.cpp

@@ -38,7 +38,6 @@
 #include <mathlib/math/Functions.hpp>
 
 using namespace matrix;
-using namespace time_literals;
 using math::radians;
 
 GyroFFT::GyroFFT() :

src/examples/gyro_fft/GyroFFT.hpp

@@ -54,6 +54,8 @@
 #include "arm_math.h"
 #include "arm_const_structs.h"
 
+using namespace time_literals;
+
 class GyroFFT : public ModuleBase<GyroFFT>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
@@ -86,7 +88,8 @@ private:
 
 	uORB::Publication<sensor_gyro_fft_s> _sensor_gyro_fft_pub{ORB_ID(sensor_gyro_fft)};
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
 	uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
 

src/examples/rover_steering_control/main.cpp

@@ -52,6 +52,7 @@
 #include <time.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -70,6 +71,8 @@
 /* process-specific header files */
 #include "params.h"
 
+using namespace time_literals;
+
 /* Prototypes */
 
 /**
@@ -101,7 +104,7 @@ int parameters_init(struct param_handles *h);
  * Update all parameters
  *
  */
-int parameters_update(const struct param_handles *h, struct params *p);
+int parameter_update(const struct param_handles *h, struct params *p);
 
 /**
  * Mainloop of daemon.
@@ -141,7 +144,7 @@ int parameters_init(struct param_handles *h)
 	return OK;
 }
 
-int parameters_update(const struct param_handles *h, struct params *p)
+int parameter_update(const struct param_handles *h, struct params *p)
 {
 	param_get(h->yaw_p, &(p->yaw_p));
 
@@ -201,7 +204,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 
 	/* initialize parameters, first the handles, then the values */
 	parameters_init(&ph);
-	parameters_update(&ph, &pp);
+	parameter_update(&ph, &pp);
 
 
 	/*
@@ -271,7 +274,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 
 	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 
-	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	/* Setup of loop */
 
@@ -313,7 +316,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 				parameter_update_sub.copy(&pupdate);
 
 				// if a param update occured, re-read our parameters
-				parameters_update(&ph, &pp);
+				parameter_update(&ph, &pp);
 			}
 
 			/* only run controller if attitude changed */