From 14c4257a59183082f08ef7a749634b463a6a8f5c Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Fri, 3 Nov 2023 17:34:30 +0100
Subject: [PATCH] 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.
---
 .../ActuatorEffectivenessRotors.cpp                   | 11 +----------
 .../ActuatorEffectivenessRotors.hpp                   |  5 ++++-
 2 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
index 29a2dea9be..5164acff05 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
@@ -79,8 +79,6 @@ ActuatorEffectivenessRotors::ActuatorEffectivenessRotors(ModuleParams *parent, A
 		}
 	}
 
-	_count_handle = param_find("CA_ROTOR_COUNT");
-
 	updateParams();
 }
 
@@ -88,14 +86,7 @@ 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
index 14f96b7dab..3844df4c84 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -147,7 +147,10 @@ private:
 		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
+	)
 };