diff --git a/src/lib/parameters/templates/px4_parameters.hpp.jinja b/src/lib/parameters/templates/px4_parameters.hpp.jinja
index c215552185..ad2ed9be4d 100644
--- a/src/lib/parameters/templates/px4_parameters.hpp.jinja
+++ b/src/lib/parameters/templates/px4_parameters.hpp.jinja
@@ -2,10 +2,13 @@
 
 #include <math.h> // NAN
 
-#include <array>
 #include <stdint.h>
 #include <parameters/param.h>
 
+#if defined(_MSC_VER) && !defined(__clang__)
+#  include <array>
+#endif
+
 // DO NOT EDIT
 // This file is autogenerated from parameters.xml
 
@@ -39,10 +42,12 @@ static constexpr param_type_t parameters_type[] = {
 {%- endfor -%}
 };
 
-{# Use std::array so that an empty list (size 0) is well-formed on all
-   compilers. A C-style "T arr[] = {}" is a GCC/Clang extension; MSVC
-   rejects it with C2466 ("cannot allocate an array of constant size 0").
-   std::array<T, 0> is standard and supports range-for. #}
+{# MSVC rejects "T arr[] = {}" with C2466 ("cannot allocate an array of
+   constant size 0"). std::array<T, 0> is standard, but NuttX libcxx does
+   not ship <array>. Use std::array on MSVC only and keep the GCC/Clang
+   extension form everywhere else. Range-for in parameters_common.cpp works
+   on both. #}
+#if defined(_MSC_VER) && !defined(__clang__)
 static constexpr std::array<params, {{ volatile_params|length }}> parameters_volatile = { {
 {% for param in volatile_params %}
 	params::{{ param.attrib["name"] }},
@@ -54,6 +59,19 @@ static constexpr std::array<params, {{ readonly_param_names|length }}> parameter
 	params::{{ param_name }},
 {% endfor %}
 } };
+#else
+static constexpr params parameters_volatile[] = {
+{% for param in volatile_params %}
+	params::{{ param.attrib["name"] }},
+{% endfor %}
+};
+
+static constexpr params parameters_readonly[] = {
+{% for param_name in readonly_param_names %}
+	params::{{ param_name }},
+{% endfor %}
+};
+#endif
 
 
 } // namespace px4