fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 04:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

rate limit most parameter_update subscriptions

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2 -1
View File
@@ -148,10 +148,11 @@ private:
uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; ///< notification of manual control updates
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< notification of parameter updates
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; ///< vehicle attitude subscription