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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/simulator/battery_simulator/BatterySimulator.hpp
+2 -1
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@@ -41,6 +41,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
@@ -72,7 +73,7 @@ private:
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
Battery _battery;
src/modules/simulator/simulator.h
+2 -1
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@@ -57,6 +57,7 @@
#include <px4_platform_common/posix.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
@@ -200,7 +201,7 @@ private:
uORB::PublicationMulti<distance_sensor_s> *_dist_pubs[RANGE_FINDER_MAX_SENSORS] {};
uint8_t _dist_sensor_ids[RANGE_FINDER_MAX_SENSORS] {};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
unsigned int _port{14560};