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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/land_detector/LandDetector.h
+2 -1
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@@ -169,8 +169,9 @@ private:
uORB::Publication<vehicle_land_detected_s> _vehicle_land_detected_pub{ORB_ID(vehicle_land_detected)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};