From ed3a115c8f5e27373aba320ccf61bbc42f7723ba Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 29 Nov 2021 13:57:36 +0100
Subject: [PATCH] control_allocator: add status publication rate limitation
 comment

---
 src/modules/control_allocator/ControlAllocator.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 688a745c2b..41d3d72f19 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -337,6 +337,8 @@ ControlAllocator::Run()
 		// Publish actuator setpoint and allocator status
 		publish_actuator_controls();
 
+		// Publish status at limited rate, as it's somewhat expensive and we use it for slower dynamics
+		// (i.e. anti-integrator windup)
 		if (now - _last_status_pub >= 5_ms) {
 			publish_control_allocator_status();
 			_last_status_pub = now;