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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/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
+4 -1
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@@ -61,6 +61,8 @@
#include "zero_order_hover_thrust_ekf.hpp"
using namespace time_literals;
class MulticopterHoverThrustEstimator : public ModuleBase<MulticopterHoverThrustEstimator>, public ModuleParams,
public px4::WorkItem
{
@@ -97,7 +99,8 @@ private:
uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};