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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.
This commit is contained in:
Matthias Grob 2023-11-03 17:34:30 +01:00 committed by Daniel Agar
parent b71c6fb6ea
commit 14c4257a59
2 changed files with 5 additions and 11 deletions
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11
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
View File

@ -79,8 +79,6 @@ ActuatorEffectivenessRotors::ActuatorEffectivenessRotors(ModuleParams *parent, A
} }
} }
_count_handle = param_find("CA_ROTOR_COUNT");
updateParams(); updateParams();
} }
@ -88,14 +86,7 @@ void ActuatorEffectivenessRotors::updateParams()
{ {
ModuleParams::updateParams(); ModuleParams::updateParams();
int32_t count = 0; _geometry.num_rotors = math::min(NUM_ROTORS_MAX, static_cast<int>(_param_ca_rotor_count.get()));
if (param_get(_count_handle, &count) != 0) {
PX4_ERR("param_get failed");
return;
}
_geometry.num_rotors = math::min(NUM_ROTORS_MAX, (int)count);
for (int i = 0; i < _geometry.num_rotors; ++i) { for (int i = 0; i < _geometry.num_rotors; ++i) {
Vector3f &position = _geometry.rotors[i].position; Vector3f &position = _geometry.rotors[i].position;

5
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
View File

@ -147,7 +147,10 @@ private:
param_t tilt_index; param_t tilt_index;
}; };
ParamHandles _param_handles[NUM_ROTORS_MAX]; ParamHandles _param_handles[NUM_ROTORS_MAX];
param_t _count_handle;
Geometry _geometry{}; Geometry _geometry{};
DEFINE_PARAMETERS(
(ParamInt<px4::params::CA_ROTOR_COUNT>) _param_ca_rotor_count
)
}; };