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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/flight_mode_manager/FlightModeManager.hpp
+2 -1
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@@ -94,8 +94,9 @@ private:
perf_counter_t _loop_perf; ///< loop duration performance counter
hrt_abstime _time_stamp_last_loop{0}; ///< time stamp of last loop iteration
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionData<home_position_s> _home_position_sub{ORB_ID(home_position)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::SubscriptionData<vehicle_control_mode_s> _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::SubscriptionData<vehicle_land_detected_s> _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};