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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/rc_update/rc_update.h
+4 -1
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@@ -60,6 +60,8 @@
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/parameter_update.h>
using namespace time_literals;
namespace RCUpdate
{
@@ -156,7 +158,8 @@ private:
uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};