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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/ekf2/EKF2.hpp
+2 -1
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@@ -208,6 +208,8 @@ private:
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
uORB::Subscription _distance_sensor_sub{ORB_ID(distance_sensor)};
@@ -215,7 +217,6 @@ private:
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};
uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
src/modules/ekf2/EKF2Selector.hpp
+1 -1
View File
@@ -181,7 +181,7 @@ private:
uint8_t _lat_lon_reset_counter{0};
uint8_t _alt_reset_counter{0};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _sensors_status_imu{ORB_ID(sensors_status_imu)};
// Publications