fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 06:33:33 +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/mavlink/mavlink_parameters.h
+4 -1
View File
@@ -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};