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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/sih/sih.hpp
+4 -1
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@@ -48,6 +48,7 @@
#include <perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/sensor_gps.h>
@@ -55,6 +56,8 @@
#include <uORB/topics/vehicle_attitude.h> // to publish groundtruth
#include <uORB/topics/vehicle_global_position.h> // to publish groundtruth
using namespace time_literals;
extern "C" __EXPORT int sih_main(int argc, char *argv[]);
class Sih : public ModuleBase<Sih>, public ModuleParams
@@ -119,7 +122,7 @@ private:
vehicle_global_position_s _gpos_gt{};
uORB::Publication<vehicle_global_position_s> _gpos_gt_pub{ORB_ID(vehicle_global_position_groundtruth)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs)};
// hard constants