ActuatorEffectivenessRotors: Use modern parameter interface for rotor…

… count This lead to a compiler warning with arm-none-eabi-gcc 12+ about the variable count potentially being a dangling pointer.
PX4 · Dec 5, 2023 · 14c4257 · 14c4257
1 parent b71c6fb
commit 14c4257
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Showing 2 changed files with 5 additions and 11 deletions.
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
@@ -79,23 +79,14 @@ ActuatorEffectivenessRotors::ActuatorEffectivenessRotors(ModuleParams *parent, A
 		}
 	}
 
-	_count_handle = param_find("CA_ROTOR_COUNT");
-
 	updateParams();
 }
 
 void ActuatorEffectivenessRotors::updateParams()
 {
 	ModuleParams::updateParams();
 
-	int32_t count = 0;
-
-	if (param_get(_count_handle, &count) != 0) {
-		PX4_ERR("param_get failed");
-		return;
-	}
-
-	_geometry.num_rotors = math::min(NUM_ROTORS_MAX, (int)count);
+	_geometry.num_rotors = math::min(NUM_ROTORS_MAX, static_cast<int>(_param_ca_rotor_count.get()));
 
 	for (int i = 0; i < _geometry.num_rotors; ++i) {
 		Vector3f &position = _geometry.rotors[i].position;

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -147,7 +147,10 @@ class ActuatorEffectivenessRotors : public ModuleParams, public ActuatorEffectiv
 		param_t tilt_index;
 	};
 	ParamHandles _param_handles[NUM_ROTORS_MAX];
-	param_t _count_handle;
 
 	Geometry _geometry{};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::CA_ROTOR_COUNT>) _param_ca_rotor_count
+	)
 };