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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/vtol_att_control/vtol_att_control_main.h
+4 -1
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@@ -84,6 +84,8 @@
#include "tailsitter.h"
#include "tiltrotor.h"
using namespace time_literals;
extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public px4::WorkItem
@@ -133,6 +135,8 @@ private:
uORB::SubscriptionCallbackWorkItem _actuator_inputs_fw{this, ORB_ID(actuator_controls_virtual_fw)};
uORB::SubscriptionCallbackWorkItem _actuator_inputs_mc{this, ORB_ID(actuator_controls_virtual_mc)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; // airspeed subscription
uORB::Subscription _fw_virtual_att_sp_sub{ORB_ID(fw_virtual_attitude_setpoint)};
uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
@@ -140,7 +144,6 @@ private:
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; // sensor subscription
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)}; //manual control setpoint subscription
uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; // local position setpoint subscription
uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
uORB::Subscription _v_att_sub{ORB_ID(vehicle_attitude)}; //vehicle attitude subscription