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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/sensors/sensors.cpp
+2 -1
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@@ -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)};