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/sensors/sensors.cpp

@@ -124,8 +124,9 @@ private:
 		{this, ORB_ID(vehicle_imu), 3}
 	};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _diff_pres_sub{ORB_ID(differential_pressure)};
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

@@ -38,7 +38,6 @@
 #include <uORB/topics/vehicle_imu_status.h>
 
 using namespace matrix;
-using namespace time_literals;
 
 namespace sensors
 {
@@ -190,10 +189,10 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
 void VehicleAcceleration::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp

@@ -51,6 +51,8 @@
 #include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/vehicle_acceleration.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 
@@ -79,7 +81,8 @@ private:
 
 	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
 	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
 	uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_accel)};

src/modules/sensors/vehicle_air_data/VehicleAirData.cpp

@@ -40,7 +40,6 @@ namespace sensors
 {
 
 using namespace matrix;
-using namespace time_literals;
 
 static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
 
@@ -114,10 +113,10 @@ void VehicleAirData::SensorCorrectionsUpdate(bool force)
 void VehicleAirData::ParametersUpdate()
 {
 	// Check if parameters have changed
-	if (_params_sub.updated()) {
+	if (_parameter_update_sub.updated()) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 	}

src/modules/sensors/vehicle_air_data/VehicleAirData.hpp

@@ -51,6 +51,8 @@
 #include <uORB/topics/sensor_correction.h>
 #include <uORB/topics/vehicle_air_data.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem
@@ -75,7 +77,8 @@ private:
 
 	uORB::Publication<vehicle_air_data_s> _vehicle_air_data_pub{ORB_ID(vehicle_air_data)};
 
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -38,7 +38,6 @@
 #include <uORB/topics/vehicle_imu_status.h>
 
 using namespace matrix;
-using namespace time_literals;
 
 namespace sensors
 {
@@ -189,10 +188,10 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
 void VehicleAngularVelocity::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -53,6 +53,8 @@
 #include <uORB/topics/vehicle_angular_acceleration.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 
@@ -82,7 +84,8 @@ private:
 
 	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
 	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
 	uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_gyro)};

src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp

@@ -77,10 +77,10 @@ void VehicleGPSPosition::Stop()
 void VehicleGPSPosition::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 	}

src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.hpp

@@ -116,7 +116,7 @@ private:
 
 	uORB::Publication<vehicle_gps_position_s> _vehicle_gps_position_pub{ORB_ID(vehicle_gps_position)};
 
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_gps_sub[GPS_MAX_RECEIVERS] {	/**< sensor data subscription */
 		{this, ORB_ID(sensor_gps), 0},

src/modules/sensors/vehicle_imu/VehicleIMU.cpp

@@ -38,7 +38,6 @@
 #include <float.h>
 
 using namespace matrix;
-using namespace time_literals;
 
 using math::constrain;
 
@@ -111,10 +110,10 @@ void VehicleIMU::Stop()
 void VehicleIMU::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		const auto imu_integ_rate_prev = _param_imu_integ_rate.get();
 

src/modules/sensors/vehicle_imu/VehicleIMU.hpp

@@ -53,6 +53,8 @@
 #include <uORB/topics/vehicle_imu.h>
 #include <uORB/topics/vehicle_imu_status.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 
@@ -87,7 +89,9 @@ private:
 
 	uORB::PublicationMulti<vehicle_imu_s> _vehicle_imu_pub{ORB_ID(vehicle_imu)};
 	uORB::PublicationMulti<vehicle_imu_status_s> _vehicle_imu_status_pub{ORB_ID(vehicle_imu_status)};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::SubscriptionCallbackWorkItem _sensor_accel_sub;
 	uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub;
 

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp

@@ -40,7 +40,6 @@ namespace sensors
 {
 
 using namespace matrix;
-using namespace time_literals;
 
 static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
 
@@ -82,10 +81,10 @@ void VehicleMagnetometer::Stop()
 void VehicleMagnetometer::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp

@@ -59,6 +59,8 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_magnetometer.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem
@@ -98,9 +100,10 @@ private:
 		{ORB_ID(vehicle_magnetometer)},
 	};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status), 0};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 
 	// Used to check, save and use learned magnetometer biases