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AP_HAL_SITL: stop taking address of packed members

This commit is contained in:
Peter Barker 2019-05-01 17:49:53 +10:00 committed by Lucas De Marchi
parent 2f7f361968
commit 900d9f71f6
1 changed files with 6 additions and 16 deletions
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22
libraries/AP_HAL_SITL/sitl_gps.cpp
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@ -411,14 +411,6 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
}
}
static void swap_uint32(uint32_t *v, uint8_t n)
{
while (n--) {
*v = htonl(*v);
v++;
}
}
/*
MTK type simple checksum
*/
@ -458,11 +450,11 @@ void SITL_State::_update_gps_mtk(const struct gps_data *d, uint8_t instance)
p.preamble2 = 0x62;
p.msg_class = 1;
p.msg_id = 5;
p.latitude = d->latitude * 1.0e6;
p.longitude = d->longitude * 1.0e6;
p.altitude = d->altitude * 100;
p.ground_speed = norm(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 1000000.0f;
p.latitude = htonl(d->latitude * 1.0e6);
p.longitude = htonl(d->longitude * 1.0e6);
p.altitude = htonl(d->altitude * 100);
p.ground_speed = htonl(norm(d->speedN, d->speedE) * 100);
p.ground_course = htonl(ToDeg(atan2f(d->speedE, d->speedN)) * 1000000.0f);
if (p.ground_course < 0.0f) {
p.ground_course += 360.0f * 1000000.0f;
}
@ -480,10 +472,8 @@ void SITL_State::_update_gps_mtk(const struct gps_data *d, uint8_t instance)
tm = *gmtime(&tv.tv_sec);
uint32_t hsec = (tv.tv_usec / (10000*20)) * 20; // always multiple of 20
p.utc_time = hsec + tm.tm_sec*100 + tm.tm_min*100*100 + tm.tm_hour*100*100*100;
p.utc_time = htonl(hsec + tm.tm_sec*100 + tm.tm_min*100*100 + tm.tm_hour*100*100*100);
swap_uint32((uint32_t *)&p.latitude, 5);
swap_uint32((uint32_t *)&p.utc_time, 1);
mtk_checksum(&p.msg_class, sizeof(p)-4, &p.ck_a, &p.ck_b);
_gps_write((uint8_t*)&p, sizeof(p), instance);