diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
index d892869527..3da5ba0f18 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
@@ -110,10 +110,9 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
 
 	esc_status_s esc_status{};
 	// Limit to max supported ESCs while allowing for a larger number of system actuators
-	int actuators_size = math::min(actuators.velocity_size(), static_cast<int>(esc_status_s::CONNECTED_ESC_MAX));
-	esc_status.esc_count = actuators_size;
+	esc_status.esc_count = math::min(actuators.velocity_size(), static_cast<int>(esc_status_s::CONNECTED_ESC_MAX));
 
-	for (int i = 0; i < actuators_size; i++) {
+	for (int i = 0; i < esc_status.esc_count; i++) {
 		esc_status.esc[i].timestamp = hrt_absolute_time();
 		esc_status.esc[i].esc_rpm = actuators.velocity(i);
 		esc_status.esc_online_flags |= 1 << i;