rate limit most parameter_update subscriptions

- 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

src/modules/mavlink/mavlink_main.cpp

@@ -52,7 +52,6 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/systemlib/mavlink_log.h>
 #include <lib/version/version.h>
-#include <uORB/Publication.hpp>
 
 #include "mavlink_receiver.h"
 #include "mavlink_main.h"
@@ -2136,8 +2135,6 @@ Mavlink::task_main(int argc, char *argv[])
 		pthread_mutex_init(&_message_buffer_mutex, nullptr);
 	}
 
-	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
-
 	uORB::Subscription cmd_sub{ORB_ID(vehicle_command)};
 	// ensure topic exists, otherwise we might lose first queued commands (leading to printf error's below)
 	orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -2247,10 +2244,10 @@ Mavlink::task_main(int argc, char *argv[])
 		update_rate_mult();
 
 		// check for parameter updates
-		if (parameter_update_sub.updated()) {
+		if (_parameter_update_sub.updated()) {
 			// clear update
 			parameter_update_s pupdate;
-			parameter_update_sub.copy(&pupdate);
+			_parameter_update_sub.copy(&pupdate);
 
 			// update parameters from storage
 			mavlink_update_parameters();

src/modules/mavlink/mavlink_main.h

@@ -69,8 +69,10 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
 #include <systemlib/uthash/utlist.h>
+#include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/mission_result.h>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/radio_status.h>
 #include <uORB/topics/telemetry_status.h>
 
@@ -530,6 +532,8 @@ private:
 
 	uORB::PublicationMulti<telemetry_status_s> _telem_status_pub{ORB_ID(telemetry_status)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	bool			_task_running{true};
 	static bool		_boot_complete;
 	static constexpr int	MAVLINK_MAX_INSTANCES{4};

src/modules/mavlink/mavlink_parameters.cpp

@@ -354,14 +354,14 @@ MavlinkParametersManager::send_untransmitted()
 {
 	bool sent_one = false;
 
-	if (_mavlink_parameter_sub.updated()) {
-		// Clear the ready flag
-		parameter_update_s value;
-		_mavlink_parameter_sub.update(&value);
+	if (_parameter_update_sub.updated()) {
+		// clear the update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
 
 		// Schedule an update if not already the case
 		if (_param_update_time == 0) {
-			_param_update_time = value.timestamp;
+			_param_update_time = pupdate.timestamp;
 			_param_update_index = 0;
 		}
 	}

src/modules/mavlink/mavlink_parameters.h

@@ -47,12 +47,15 @@
 #include "mavlink_bridge_header.h"
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/rc_parameter_map.h>
 #include <uORB/topics/uavcan_parameter_request.h>
 #include <uORB/topics/uavcan_parameter_value.h>
 #include <uORB/topics/parameter_update.h>
 #include <drivers/drv_hrt.h>
 
+using namespace time_literals;
+
 class Mavlink;
 
 class MavlinkParametersManager
@@ -147,7 +150,7 @@ protected:
 
 	uORB::Subscription _uavcan_parameter_value_sub{ORB_ID(uavcan_parameter_value)};
 
-	uORB::Subscription _mavlink_parameter_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	hrt_abstime _param_update_time{0};
 	int _param_update_index{0};
 

src/modules/mavlink/mavlink_receiver.h

@@ -55,6 +55,7 @@
 #include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -107,6 +108,8 @@
 # include <uORB/topics/debug_vect.h>
 #endif // !CONSTRAINED_FLASH
 
+using namespace time_literals;
+
 class Mavlink;
 
 class MavlinkReceiver : public ModuleParams
@@ -304,11 +307,12 @@ private:
 	// ORB subscriptions
 	uORB::Subscription	_actuator_armed_sub{ORB_ID(actuator_armed)};
 	uORB::Subscription	_control_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription	_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription	_vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription	_vehicle_status_sub{ORB_ID(vehicle_status)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	// hil_sensor and hil_state_quaternion
 	enum SensorSource {
 		ACCEL		= 0b111,

src/modules/mavlink/streams/HIGH_LATENCY2.hpp

@@ -46,6 +46,7 @@
 #include <uORB/topics/estimator_selector_status.h>
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/geofence_result.h>
+#include <uORB/topics/mission_result.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/tecs_status.h>
 #include <uORB/topics/wind_estimate.h>