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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_rate_control/MulticopterRateControl.hpp
+4 -1
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@@ -60,6 +60,8 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
using namespace time_literals;
class MulticopterRateControl : public ModuleBase<MulticopterRateControl>, public ModuleParams, public px4::WorkItem
{
public:
@@ -91,13 +93,14 @@ private:
uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _motor_limits_sub{ORB_ID(multirotor_motor_limits)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::Publication<actuator_controls_s> _actuators_0_pub;