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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/modules/airship_att_control/airship_att_control.hpp
+3 -1
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@@ -42,6 +42,8 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_angular_velocity.h>
using namespace time_literals;
/**
* Airship attitude control app start / stop handling function
*/
@@ -80,7 +82,7 @@ private:
void publish_actuator_controls();
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< parameter updates subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */