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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/airspeed_selector/airspeed_selector_main.cpp
+3 -2
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@@ -106,9 +106,10 @@ private:
uORB::PublicationMulti<wind_estimate_s> _wind_est_pub[MAX_NUM_AIRSPEED_SENSORS + 1] {{ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}}; /**< wind estimate topic (for each airspeed validator + purely sideslip fusion) */
orb_advert_t _mavlink_log_pub {nullptr}; /**< mavlink log topic*/
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
uORB::Subscription _param_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
@@ -283,7 +284,7 @@ AirspeedModule::Run()
parameter_update_s update;
if (_param_sub.update(&update)) {
if (_parameter_update_sub.update(&update)) {
update_params();
}