- 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
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
Parameters can change not just based on GCS request, but also due to internal code or requests by a different valid connected control authority such a cloud service. This change ensures that all connected systems get updated via MAVLink asynchronously.
This further speeds up param loading.
On Pixracer via USB, it's possible to send up to 11 at once before the TX
buffer gets full, so there is still enough free bandwidth left.
We buffer the mavlink messages and don't forward them directly
via uORB. This solves an issue where many requests are dropped and
QGC does not start properly in combination with UAVCAN devices.
Daniel Agar