AP_DDS: fixed stack frame size on build.

ArduPilot · Nov 5, 2024 · 1129087 · 1129087
1 parent 16245ec
commit 1129087
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -82,11 +82,14 @@ ardupilot_msgs_msg_GlobalPosition AP_DDS_Client::rx_global_position_control_topi
 #endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
 
 // Define the parameter server data members, which are static class scope.
+// If these are created on the stack, then the AP_DDS_Client::on_request
+// frame size is exceeded.
 #if AP_DDS_PARAMETER_SERVER_ENABLED
 rcl_interfaces_srv_SetParameters_Request AP_DDS_Client::set_parameter_request {};
 rcl_interfaces_srv_SetParameters_Response AP_DDS_Client::set_parameter_response {};
 rcl_interfaces_srv_GetParameters_Request AP_DDS_Client::get_parameters_request {};
 rcl_interfaces_srv_GetParameters_Response AP_DDS_Client::get_parameters_response {};
+rcl_interfaces_msg_Parameter AP_DDS_Client::param {};
 #endif
 
 const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
@@ -823,7 +826,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
         // Set parameters and responses for each one requested
         set_parameter_response.results_size = set_parameter_request.parameters_size;
         for (size_t i = 0; i < set_parameter_request.parameters_size; i++) {
-            rcl_interfaces_msg_Parameter param = set_parameter_request.parameters[i];
+            param = set_parameter_request.parameters[i];
 
             enum ap_var_type var_type;
 

diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
@@ -214,6 +214,7 @@ class AP_DDS_Client
     static rcl_interfaces_srv_SetParameters_Response set_parameter_response;
     static rcl_interfaces_srv_GetParameters_Request get_parameters_request;
     static rcl_interfaces_srv_GetParameters_Response get_parameters_response;
+    static rcl_interfaces_msg_Parameter param;
 #endif
 
     // connection parametrics