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/temperature_compensation/TemperatureCompensationModule.cpp

@@ -41,7 +41,6 @@
 #include <systemlib/mavlink_log.h>
 
 using namespace temperature_compensation;
-using namespace time_literals;
 
 TemperatureCompensationModule::TemperatureCompensationModule() :
 	ModuleParams(nullptr),
@@ -233,10 +232,10 @@ void TemperatureCompensationModule::Run()
 	}
 
 	// Check if any parameter has changed
-	if (_params_sub.updated()) {
+	if (_parameter_update_sub.updated()) {
 		// Read from param to clear updated flag
 		parameter_update_s update;
-		_params_sub.copy(&update);
+		_parameter_update_sub.copy(&update);
 
 		parameters_update();
 	}

src/modules/temperature_compensation/TemperatureCompensationModule.h

@@ -48,6 +48,7 @@
 #include <px4_platform_common/time.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_accel.h>
 #include <uORB/topics/sensor_baro.h>
@@ -58,6 +59,8 @@
 
 #include "TemperatureCompensation.h"
 
+using namespace time_literals;
+
 namespace temperature_compensation
 {
 
@@ -123,7 +126,8 @@ private:
 		{ORB_ID(sensor_baro), 3},
 	};
 
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 
 	perf_counter_t _loop_perf;			/**< loop performance counter */