fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 02:33:34 +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/uuv_att_control/uuv_att_control.hpp
+3 -3
View File
@@ -43,8 +43,6 @@
* @author Tim Hansen <t.hansen@tuhh.de>
*/
#include <float.h>
#include <drivers/drv_hrt.h>
@@ -81,6 +79,8 @@ using matrix::Dcmf;
using uORB::SubscriptionData;
using namespace time_literals;
class UUVAttitudeControl: public ModuleBase<UUVAttitudeControl>, public ModuleParams, public px4::WorkItem
{
public:
@@ -100,7 +100,7 @@ public:
private:
uORB::Publication<actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_0)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
uORB::Subscription _vehicle_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle bodyrates setpoint subscriber */