fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 16:31:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

rate limit most parameter_update subscriptions

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+2 -3
View File
@@ -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
+4 -1
View File
@@ -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)};