rate limit most parameter_update subscriptions

- 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

src/modules/airship_att_control/airship_att_control.hpp

@@ -42,6 +42,8 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 
+using namespace time_literals;
+
 /**
  * Airship attitude control app start / stop handling function
  */
@@ -80,7 +82,7 @@ private:
 
 	void		publish_actuator_controls();
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		/**< parameter updates subscription */
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};		/**< parameter updates subscription */
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};			/**< vehicle status subscription */
 	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};	/**< manual control setpoint subscription */
 

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -106,9 +106,10 @@ private:
 	uORB::PublicationMulti<wind_estimate_s> _wind_est_pub[MAX_NUM_AIRSPEED_SENSORS + 1] {{ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}, {ORB_ID(wind_estimate)}}; /**< wind estimate topic (for each airspeed validator + purely sideslip fusion) */
 	orb_advert_t 	_mavlink_log_pub {nullptr}; 						/**< mavlink log topic*/
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
 	uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
-	uORB::Subscription _param_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
@@ -283,7 +284,7 @@ AirspeedModule::Run()
 
 	parameter_update_s update;
 
-	if (_param_sub.update(&update)) {
+	if (_parameter_update_sub.update(&update)) {
 		update_params();
 	}
 

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -108,7 +108,7 @@ private:
 
 	uORB::SubscriptionCallbackWorkItem _sensors_sub{this, ORB_ID(sensor_combined)};
 
-	uORB::Subscription		_parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval	_parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription		_gps_sub{ORB_ID(vehicle_gps_position)};
 	uORB::Subscription		_local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription		_vision_odom_sub{ORB_ID(vehicle_visual_odometry)};

src/modules/battery_status/battery_status.cpp

@@ -101,7 +101,7 @@ private:
 	void Run() override;
 
 	uORB::Subscription	_actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};		/**< attitude controls sub */
-	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};				/**< notification of parameter updates */
+	uORB::SubscriptionInterval	_parameter_update_sub{ORB_ID(parameter_update), 1_s};				/**< notification of parameter updates */
 	uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
 
 	static constexpr uint32_t SAMPLE_FREQUENCY_HZ = 100;

src/modules/commander/Commander.hpp

@@ -403,7 +403,6 @@ private:
 	uORB::Subscription					_geofence_result_sub{ORB_ID(geofence_result)};
 	uORB::Subscription					_iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
 	uORB::Subscription					_land_detector_sub{ORB_ID(vehicle_land_detected)};
-	uORB::Subscription					_parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription					_safety_sub{ORB_ID(safety)};
 	uORB::Subscription					_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription					_manual_control_switches_sub{ORB_ID(manual_control_switches)};
@@ -411,6 +410,8 @@ private:
 	uORB::Subscription					_vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::Subscription					_vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
 
+	uORB::SubscriptionInterval				_parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
 	uORB::SubscriptionMultiArray<distance_sensor_s>         _distance_sensor_subs{ORB_ID::distance_sensor};
 	uORB::SubscriptionMultiArray<telemetry_status_s>        _telemetry_status_subs{ORB_ID::telemetry_status};

src/modules/ekf2/EKF2.hpp

@@ -208,6 +208,8 @@ private:
 
 	float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
 	uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
 	uORB::Subscription _distance_sensor_sub{ORB_ID(distance_sensor)};
@@ -215,7 +217,6 @@ private:
 	uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
 	uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};
 	uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)};
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
 	uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};

src/modules/ekf2/EKF2Selector.hpp

@@ -181,7 +181,7 @@ private:
 	uint8_t _lat_lon_reset_counter{0};
 	uint8_t _alt_reset_counter{0};
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _sensors_status_imu{ORB_ID(sensors_status_imu)};
 
 	// Publications

src/modules/esc_battery/EscBattery.hpp

@@ -71,7 +71,7 @@ private:
 
 	void parameters_updated();
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)};
 	uORB::SubscriptionCallbackWorkItem _esc_status_sub{this, ORB_ID(esc_status)};
 

src/modules/flight_mode_manager/FlightModeManager.hpp

@@ -94,8 +94,9 @@ private:
 	perf_counter_t _loop_perf; ///< loop duration performance counter
 	hrt_abstime _time_stamp_last_loop{0}; ///< time stamp of last loop iteration
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::SubscriptionData<home_position_s> _home_position_sub{ORB_ID(home_position)};
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
 	uORB::SubscriptionData<vehicle_control_mode_s> _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::SubscriptionData<vehicle_land_detected_s> _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -72,6 +72,8 @@ using matrix::Quatf;
 
 using uORB::SubscriptionData;
 
+using namespace time_literals;
+
 class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
 	public px4::WorkItem
 {
@@ -95,11 +97,12 @@ private:
 
 	uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)};	/**< vehicle attitude */
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};		/**< vehicle attitude setpoint */
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};			/**< battery status subscription */
 	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};		/**< local position subscription */
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};		/**< notification of manual control updates */
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		/**< notification of parameter updates */
 	uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};		/**< vehicle rates setpoint */
 	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle status subscription */
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};	/**< vehicle land detected subscription */

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -148,10 +148,11 @@ private:
 
 	uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};		///< control mode subscription
 	uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	///< notification of manual control updates
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		///< notification of parameter updates
 	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
 	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};		///< vehicle attitude subscription

src/modules/land_detector/LandDetector.h

@@ -169,8 +169,9 @@ private:
 
 	uORB::Publication<vehicle_land_detected_s> _vehicle_land_detected_pub{ORB_ID(vehicle_land_detected)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 

src/modules/landing_target_estimator/LandingTargetEstimator.cpp

@@ -225,14 +225,10 @@ void LandingTargetEstimator::update()
 
 void LandingTargetEstimator::_check_params(const bool force)
 {
-	bool updated = _parameterSub.updated();
+	if (_parameter_update_sub.updated() || force) {
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
 
-	if (updated) {
-		parameter_update_s paramUpdate;
-		_parameterSub.copy(&paramUpdate);
-	}
-
-	if (updated || force) {
 		_update_params();
 	}
 }

src/modules/landing_target_estimator/LandingTargetEstimator.h

@@ -47,6 +47,7 @@
 #include <parameters/param.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
@@ -59,6 +60,7 @@
 #include <matrix/Matrix.hpp>
 #include "KalmanFilter.h"
 
+using namespace time_literals;
 
 namespace landing_target_estimator
 {
@@ -96,7 +98,7 @@ protected:
 	uORB::Publication<landing_target_innovations_s> _targetInnovationsPub{ORB_ID(landing_target_innovations)};
 	landing_target_innovations_s _target_innovations{};
 
-	uORB::Subscription _parameterSub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 private:
 

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -241,7 +241,7 @@ void BlockLocalPositionEstimator::Run()
 	_lastArmedState = armedState;
 
 	// see which updates are available
-	bool paramsUpdated = _sub_param_update.update();
+	const bool paramsUpdated = _parameter_update_sub.updated();
 	_baroUpdated = false;
 
 	if ((_param_lpe_fusion.get() & FUSE_BARO) && _sub_airdata.update()) {
@@ -266,6 +266,10 @@ void BlockLocalPositionEstimator::Run()
 
 	// update parameters
 	if (paramsUpdated) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
 		SuperBlock::updateParams();
 		ModuleParams::updateParams();
 		updateSSParams();

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -263,12 +263,13 @@ private:
 	// subscriptions
 	uORB::SubscriptionCallbackWorkItem _sensors_sub{this, ORB_ID(sensor_combined)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::SubscriptionData<actuator_armed_s> _sub_armed{ORB_ID(actuator_armed)};
 	uORB::SubscriptionData<vehicle_land_detected_s> _sub_land{ORB_ID(vehicle_land_detected)};
 	uORB::SubscriptionData<vehicle_attitude_s> _sub_att{ORB_ID(vehicle_attitude)};
 	uORB::SubscriptionData<vehicle_angular_velocity_s> _sub_angular_velocity{ORB_ID(vehicle_angular_velocity)};
 	uORB::SubscriptionData<optical_flow_s> _sub_flow{ORB_ID(optical_flow)};
-	uORB::SubscriptionData<parameter_update_s> _sub_param_update{ORB_ID(parameter_update)};
 	uORB::SubscriptionData<vehicle_gps_position_s> _sub_gps{ORB_ID(vehicle_gps_position)};
 	uORB::SubscriptionData<vehicle_odometry_s> _sub_visual_odom{ORB_ID(vehicle_visual_odometry)};
 	uORB::SubscriptionData<vehicle_odometry_s> _sub_mocap_odom{ORB_ID(vehicle_mocap_odometry)};

src/modules/logger/logger.h

@@ -353,8 +353,8 @@ private:
 	uORB::Subscription				_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription				_vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::Subscription				_vehicle_status_sub{ORB_ID(vehicle_status)};
-	uORB::SubscriptionInterval		_log_message_sub{ORB_ID(log_message), 20};
-	uORB::Subscription 				_parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval			_log_message_sub{ORB_ID(log_message), 20};
+	uORB::SubscriptionInterval			_parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::SDLOG_UTC_OFFSET>) _param_sdlog_utc_offset,

src/modules/mavlink/mavlink_main.cpp

@@ -52,7 +52,6 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/systemlib/mavlink_log.h>
 #include <lib/version/version.h>
-#include <uORB/Publication.hpp>
 
 #include "mavlink_receiver.h"
 #include "mavlink_main.h"
@@ -2136,8 +2135,6 @@ Mavlink::task_main(int argc, char *argv[])
 		pthread_mutex_init(&_message_buffer_mutex, nullptr);
 	}
 
-	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
-
 	uORB::Subscription cmd_sub{ORB_ID(vehicle_command)};
 	// ensure topic exists, otherwise we might lose first queued commands (leading to printf error's below)
 	orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -2247,10 +2244,10 @@ Mavlink::task_main(int argc, char *argv[])
 		update_rate_mult();
 
 		// check for parameter updates
-		if (parameter_update_sub.updated()) {
+		if (_parameter_update_sub.updated()) {
 			// clear update
 			parameter_update_s pupdate;
-			parameter_update_sub.copy(&pupdate);
+			_parameter_update_sub.copy(&pupdate);
 
 			// update parameters from storage
 			mavlink_update_parameters();

src/modules/mavlink/mavlink_main.h

@@ -69,8 +69,10 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
 #include <systemlib/uthash/utlist.h>
+#include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/mission_result.h>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/radio_status.h>
 #include <uORB/topics/telemetry_status.h>
 
@@ -530,6 +532,8 @@ private:
 
 	uORB::PublicationMulti<telemetry_status_s> _telem_status_pub{ORB_ID(telemetry_status)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	bool			_task_running{true};
 	static bool		_boot_complete;
 	static constexpr int	MAVLINK_MAX_INSTANCES{4};

src/modules/mavlink/mavlink_parameters.cpp

@@ -354,14 +354,14 @@ MavlinkParametersManager::send_untransmitted()
 {
 	bool sent_one = false;
 
-	if (_mavlink_parameter_sub.updated()) {
-		// Clear the ready flag
-		parameter_update_s value;
-		_mavlink_parameter_sub.update(&value);
+	if (_parameter_update_sub.updated()) {
+		// clear the update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
 
 		// Schedule an update if not already the case
 		if (_param_update_time == 0) {
-			_param_update_time = value.timestamp;
+			_param_update_time = pupdate.timestamp;
 			_param_update_index = 0;
 		}
 	}

src/modules/mavlink/mavlink_parameters.h

@@ -47,12 +47,15 @@
 #include "mavlink_bridge_header.h"
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/rc_parameter_map.h>
 #include <uORB/topics/uavcan_parameter_request.h>
 #include <uORB/topics/uavcan_parameter_value.h>
 #include <uORB/topics/parameter_update.h>
 #include <drivers/drv_hrt.h>
 
+using namespace time_literals;
+
 class Mavlink;
 
 class MavlinkParametersManager
@@ -147,7 +150,7 @@ protected:
 
 	uORB::Subscription _uavcan_parameter_value_sub{ORB_ID(uavcan_parameter_value)};
 
-	uORB::Subscription _mavlink_parameter_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	hrt_abstime _param_update_time{0};
 	int _param_update_index{0};
 

src/modules/mavlink/mavlink_receiver.h

@@ -55,6 +55,7 @@
 #include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -107,6 +108,8 @@
 # include <uORB/topics/debug_vect.h>
 #endif // !CONSTRAINED_FLASH
 
+using namespace time_literals;
+
 class Mavlink;
 
 class MavlinkReceiver : public ModuleParams
@@ -304,11 +307,12 @@ private:
 	// ORB subscriptions
 	uORB::Subscription	_actuator_armed_sub{ORB_ID(actuator_armed)};
 	uORB::Subscription	_control_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription	_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription	_vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription	_vehicle_status_sub{ORB_ID(vehicle_status)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	// hil_sensor and hil_state_quaternion
 	enum SensorSource {
 		ACCEL		= 0b111,

src/modules/mavlink/streams/HIGH_LATENCY2.hpp

@@ -46,6 +46,7 @@
 #include <uORB/topics/estimator_selector_status.h>
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/geofence_result.h>
+#include <uORB/topics/mission_result.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/tecs_status.h>
 #include <uORB/topics/wind_estimate.h>

src/modules/mc_att_control/mc_att_control.hpp

@@ -58,6 +58,8 @@
 
 #include <AttitudeControl.hpp>
 
+using namespace time_literals;
+
 /**
  * Multicopter attitude control app start / stop handling function
  */
@@ -98,10 +100,11 @@ private:
 
 	AttitudeControl _attitude_control; ///< class for attitude control calculations
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
 	uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};		/**< vehicle rates setpoint subscription */
 	uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle control mode subscription */
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};			/**< parameter updates subscription */
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	/**< manual control setpoint subscription */
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};			/**< vehicle status subscription */
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};	/**< vehicle land detected subscription */

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -228,10 +228,10 @@ MulticopterAttitudeControl::Run()
 	perf_begin(_loop_perf);
 
 	// Check if parameters have changed
-	if (_params_sub.updated()) {
+	if (_parameter_update_sub.updated()) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 		parameters_updated();

src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp

@@ -61,6 +61,8 @@
 
 #include "zero_order_hover_thrust_ekf.hpp"
 
+using namespace time_literals;
+
 class MulticopterHoverThrustEstimator : public ModuleBase<MulticopterHoverThrustEstimator>, public ModuleParams,
 	public px4::WorkItem
 {
@@ -97,7 +99,8 @@ private:
 
 	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -92,8 +92,9 @@ private:
 
 	uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)};	/**< vehicle local position */
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle control mode subscription */
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		/**< notification of parameter updates */
 	uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
 	uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
 	uORB::Subscription _vehicle_constraints_sub{ORB_ID(vehicle_constraints)};

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -60,6 +60,8 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 
+using namespace time_literals;
+
 class MulticopterRateControl : public ModuleBase<MulticopterRateControl>, public ModuleParams, public px4::WorkItem
 {
 public:
@@ -91,13 +93,14 @@ private:
 	uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _motor_limits_sub{ORB_ID(multirotor_motor_limits)};
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
 	uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)};
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
 
 	uORB::Publication<actuator_controls_s>		_actuators_0_pub;

src/modules/navigator/navigator.h

@@ -60,6 +60,7 @@
 #include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/geofence_result.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/mission.h>
@@ -78,12 +79,13 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/uORB.h>
 
+using namespace time_literals;
+
 /**
  * Number of navigation modes that need on_active/on_inactive calls
  */
 #define NAVIGATOR_MODE_ARRAY_SIZE 9
 
-
 class Navigator : public ModuleBase<Navigator>, public ModuleParams
 {
 public:
@@ -332,11 +334,12 @@ private:
 	int		_local_pos_sub{-1};		/**< local position subscription */
 	int		_vehicle_status_sub{-1};	/**< local position subscription */
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};	/**< global position subscription */
 	uORB::Subscription _gps_pos_sub{ORB_ID(vehicle_gps_position)};		/**< gps position subscription */
 	uORB::Subscription _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
 	uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};	/**< vehicle land detected subscription */
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};	/**< param update subscription */
 	uORB::Subscription _pos_ctrl_landing_status_sub{ORB_ID(position_controller_landing_status)};	/**< position controller landing status subscription */
 	uORB::Subscription _traffic_sub{ORB_ID(transponder_report)};		/**< traffic subscription */
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};	/**< vehicle commands (onboard and offboard) */

src/modules/rc_update/rc_update.h

@@ -60,6 +60,8 @@
 #include <uORB/topics/rc_parameter_map.h>
 #include <uORB/topics/parameter_update.h>
 
+using namespace time_literals;
+
 namespace RCUpdate
 {
 
@@ -156,7 +158,8 @@ private:
 
 	uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
 
 	uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};

src/modules/rover_pos_control/RoverPositionControl.hpp

@@ -56,6 +56,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
@@ -69,11 +70,10 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/uORB.h>
 
 using matrix::Dcmf;
 
-using uORB::SubscriptionData;
+using namespace time_literals;
 
 class RoverPositionControl : public ModuleBase<RoverPositionControl>, public ModuleParams
 {
@@ -111,7 +111,7 @@ private:
 	int		_vehicle_attitude_sub{-1};
 	int		_sensor_combined_sub{-1};
 
-	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	manual_control_setpoint_s		_manual_control_setpoint{};			    /**< r/c channel data */
 	position_setpoint_triplet_s		_pos_sp_triplet{};		/**< triplet of mission items */
@@ -123,7 +123,7 @@ private:
 	vehicle_attitude_s				_vehicle_att{};
 	sensor_combined_s				_sensor_combined{};
 
-	SubscriptionData<vehicle_acceleration_s>		_vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
+	uORB::SubscriptionData<vehicle_acceleration_s>		_vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 

src/modules/sensors/sensors.cpp

@@ -124,8 +124,9 @@ private:
 		{this, ORB_ID(vehicle_imu), 3}
 	};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _diff_pres_sub{ORB_ID(differential_pressure)};
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

@@ -38,7 +38,6 @@
 #include <uORB/topics/vehicle_imu_status.h>
 
 using namespace matrix;
-using namespace time_literals;
 
 namespace sensors
 {
@@ -190,10 +189,10 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
 void VehicleAcceleration::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp

@@ -51,6 +51,8 @@
 #include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/vehicle_acceleration.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 
@@ -79,7 +81,8 @@ private:
 
 	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
 	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
 	uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_accel)};

src/modules/sensors/vehicle_air_data/VehicleAirData.cpp

@@ -40,7 +40,6 @@ namespace sensors
 {
 
 using namespace matrix;
-using namespace time_literals;
 
 static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
 
@@ -114,10 +113,10 @@ void VehicleAirData::SensorCorrectionsUpdate(bool force)
 void VehicleAirData::ParametersUpdate()
 {
 	// Check if parameters have changed
-	if (_params_sub.updated()) {
+	if (_parameter_update_sub.updated()) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 	}

src/modules/sensors/vehicle_air_data/VehicleAirData.hpp

@@ -51,6 +51,8 @@
 #include <uORB/topics/sensor_correction.h>
 #include <uORB/topics/vehicle_air_data.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem
@@ -75,7 +77,8 @@ private:
 
 	uORB::Publication<vehicle_air_data_s> _vehicle_air_data_pub{ORB_ID(vehicle_air_data)};
 
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -38,7 +38,6 @@
 #include <uORB/topics/vehicle_imu_status.h>
 
 using namespace matrix;
-using namespace time_literals;
 
 namespace sensors
 {
@@ -189,10 +188,10 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
 void VehicleAngularVelocity::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -53,6 +53,8 @@
 #include <uORB/topics/vehicle_angular_acceleration.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 
@@ -82,7 +84,8 @@ private:
 
 	uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
 	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
 	uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_gyro)};

src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp

@@ -77,10 +77,10 @@ void VehicleGPSPosition::Stop()
 void VehicleGPSPosition::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 	}

src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.hpp

@@ -116,7 +116,7 @@ private:
 
 	uORB::Publication<vehicle_gps_position_s> _vehicle_gps_position_pub{ORB_ID(vehicle_gps_position)};
 
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_gps_sub[GPS_MAX_RECEIVERS] {	/**< sensor data subscription */
 		{this, ORB_ID(sensor_gps), 0},

src/modules/sensors/vehicle_imu/VehicleIMU.cpp

@@ -38,7 +38,6 @@
 #include <float.h>
 
 using namespace matrix;
-using namespace time_literals;
 
 using math::constrain;
 
@@ -111,10 +110,10 @@ void VehicleIMU::Stop()
 void VehicleIMU::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		const auto imu_integ_rate_prev = _param_imu_integ_rate.get();
 

src/modules/sensors/vehicle_imu/VehicleIMU.hpp

@@ -53,6 +53,8 @@
 #include <uORB/topics/vehicle_imu.h>
 #include <uORB/topics/vehicle_imu_status.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 
@@ -87,7 +89,9 @@ private:
 
 	uORB::PublicationMulti<vehicle_imu_s> _vehicle_imu_pub{ORB_ID(vehicle_imu)};
 	uORB::PublicationMulti<vehicle_imu_status_s> _vehicle_imu_status_pub{ORB_ID(vehicle_imu_status)};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::SubscriptionCallbackWorkItem _sensor_accel_sub;
 	uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub;
 

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp

@@ -40,7 +40,6 @@ namespace sensors
 {
 
 using namespace matrix;
-using namespace time_literals;
 
 static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
 
@@ -82,10 +81,10 @@ void VehicleMagnetometer::Stop()
 void VehicleMagnetometer::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
-	if (_params_sub.updated() || force) {
+	if (_parameter_update_sub.updated() || force) {
 		// clear update
 		parameter_update_s param_update;
-		_params_sub.copy(&param_update);
+		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp

@@ -59,6 +59,8 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_magnetometer.h>
 
+using namespace time_literals;
+
 namespace sensors
 {
 class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem
@@ -98,9 +100,10 @@ private:
 		{ORB_ID(vehicle_magnetometer)},
 	};
 
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status), 0};
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 
 	// Used to check, save and use learned magnetometer biases

src/modules/sih/sih.hpp

@@ -48,6 +48,7 @@
 #include <perf/perf_counter.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/sensor_gps.h>
@@ -55,6 +56,8 @@
 #include <uORB/topics/vehicle_attitude.h>           // to publish groundtruth
 #include <uORB/topics/vehicle_global_position.h>    // to publish groundtruth
 
+using namespace time_literals;
+
 extern "C" __EXPORT int sih_main(int argc, char *argv[]);
 
 class Sih : public ModuleBase<Sih>, public ModuleParams
@@ -119,7 +122,7 @@ private:
 	vehicle_global_position_s			_gpos_gt{};
 	uORB::Publication<vehicle_global_position_s>	_gpos_gt_pub{ORB_ID(vehicle_global_position_groundtruth)};
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs)};
 
 	// hard constants

src/modules/simulator/battery_simulator/BatterySimulator.hpp

@@ -41,6 +41,7 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_status.h>
@@ -72,7 +73,7 @@ private:
 
 	uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
 
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 
 	Battery _battery;

src/modules/simulator/simulator.h

@@ -57,6 +57,7 @@
 #include <px4_platform_common/posix.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
@@ -200,7 +201,7 @@ private:
 	uORB::PublicationMulti<distance_sensor_s>	*_dist_pubs[RANGE_FINDER_MAX_SENSORS] {};
 	uint8_t _dist_sensor_ids[RANGE_FINDER_MAX_SENSORS] {};
 
-	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	unsigned int _port{14560};
 

src/modules/temperature_compensation/TemperatureCompensationModule.cpp

@@ -41,7 +41,6 @@
 #include <systemlib/mavlink_log.h>
 
 using namespace temperature_compensation;
-using namespace time_literals;
 
 TemperatureCompensationModule::TemperatureCompensationModule() :
 	ModuleParams(nullptr),
@@ -233,10 +232,10 @@ void TemperatureCompensationModule::Run()
 	}
 
 	// Check if any parameter has changed
-	if (_params_sub.updated()) {
+	if (_parameter_update_sub.updated()) {
 		// Read from param to clear updated flag
 		parameter_update_s update;
-		_params_sub.copy(&update);
+		_parameter_update_sub.copy(&update);
 
 		parameters_update();
 	}

src/modules/temperature_compensation/TemperatureCompensationModule.h

@@ -48,6 +48,7 @@
 #include <px4_platform_common/time.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_accel.h>
 #include <uORB/topics/sensor_baro.h>
@@ -58,6 +59,8 @@
 
 #include "TemperatureCompensation.h"
 
+using namespace time_literals;
+
 namespace temperature_compensation
 {
 
@@ -123,7 +126,8 @@ private:
 		{ORB_ID(sensor_baro), 3},
 	};
 
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 
 	perf_counter_t _loop_perf;			/**< loop performance counter */

src/modules/uuv_att_control/uuv_att_control.hpp

@@ -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 */