From 1129087ef9e4c9d4ece1d850351b79f44d61caa8 Mon Sep 17 00:00:00 2001
From: "paul.quillen" <paul.quillen@avinc.com>
Date: Tue, 5 Nov 2024 10:27:54 -0600
Subject: [PATCH] AP_DDS: fixed stack frame size on build.

---
 libraries/AP_DDS/AP_DDS_Client.cpp | 5 ++++-
 libraries/AP_DDS/AP_DDS_Client.h   | 1 +
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index b30117e52c630..c2b0a7a7de218 100644
--- 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
index 0610a4d622f05..ded3451f99228 100644
--- 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