diff --git a/src/modules/angular_velocity_controller/AngularVelocityController.hpp b/src/modules/angular_velocity_controller/AngularVelocityController.hpp
index 4c1a718957..a31ae859be 100644
--- a/src/modules/angular_velocity_controller/AngularVelocityController.hpp
+++ b/src/modules/angular_velocity_controller/AngularVelocityController.hpp
@@ -61,6 +61,7 @@
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 #include <uORB/topics/vehicle_torque_setpoint.h>
 
+using namespace time_literals;
 
 class AngularVelocityController : public ModuleBase<AngularVelocityController>, public ModuleParams,
 	public px4::WorkItem
@@ -102,8 +103,9 @@ private:
 
 	AngularVelocityControl _control; 	///< class for control calculations
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};				/**< motor limits subscription */
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};				/**< parameter updates subscription */
 	uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)}; 	/**< vehicle angular acceleration subscription */
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};			/**< vehicle control mode subscription */
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};			/**< vehicle land detected subscription */
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
index 1bb4c9efc2..2997f93926 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
@@ -45,8 +45,11 @@
 
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
 
+using namespace time_literals;
+
 class ActuatorEffectivenessMultirotor: public ModuleParams, public ActuatorEffectiveness
 {
 public:
@@ -77,8 +80,7 @@ public:
 
 	int numActuators() const override { return _num_actuators; }
 private:
-
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		/**< parameter updates subscription */
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	bool _updated{true};
 	int _num_actuators{0};
diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp
index 9a10454012..01acd0bfb1 100644
--- a/src/modules/control_allocator/ControlAllocator.hpp
+++ b/src/modules/control_allocator/ControlAllocator.hpp
@@ -144,7 +144,8 @@ private:
 	uORB::Publication<actuator_controls_s>	_actuator_controls_4_pub{ORB_ID(actuator_controls_4)};	/**< actuator controls 4 publication */
 	uORB::Publication<actuator_controls_s>	_actuator_controls_5_pub{ORB_ID(actuator_controls_5)};	/**< actuator controls 5 publication */
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		/**< parameter updates subscription */
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};			/**< battery status subscription */
 	uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};				/**< airspeed subscription */
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};