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AP_GPS_IMU: fix type punning warnings by using memcpy

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This commit is contained in:
Pat Hickey 2012-09-27 09:17:21 -07:00 committed by Andrew Tridgell
parent 9ed023aeb4
commit deb96143d3
1 changed files with 16 additions and 11 deletions
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27
libraries/AP_GPS/AP_GPS_IMU.cpp
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@ -165,30 +165,30 @@ void AP_GPS_IMU::join_data(void)
//In this case all the message im using are in class 1, to know more about classes check PAGE 60 of DataSheet.
//Storing IMU roll
roll_sensor = *(int16_t *)&buffer[0];
memcpy(&roll_sensor, &buffer[0], sizeof(roll_sensor));
//Storing IMU pitch
pitch_sensor = *(int16_t *)&buffer[2];
memcpy(&pitch_sensor, &buffer[2], sizeof(pitch_sensor));
//Storing IMU heading (yaw)
ground_course = *(int16_t *)&buffer[4];
memcpy(&ground_course, &buffer[4], sizeof(ground_course));
imu_ok = true;
}
void AP_GPS_IMU::join_data_xplane()
{
//Storing IMU roll
roll_sensor = *(int16_t *)&buffer[0];
memcpy(&roll_sensor, &buffer[0], sizeof(roll_sensor));
//Storing IMU pitch
pitch_sensor = *(int16_t *)&buffer[2];
memcpy(&pitch_sensor, &buffer[2], sizeof(pitch_sensor));
//Storing IMU heading (yaw)
ground_course = *(uint16_t *)&buffer[4];
memcpy(&ground_course, &buffer[4], sizeof(ground_course));
//Storing airspeed
airspeed = *(int16_t *)&buffer[6];
memcpy(&airspeed, &buffer[6], sizeof(airspeed));
imu_ok = true;
@ -196,17 +196,22 @@ void AP_GPS_IMU::join_data_xplane()
void AP_GPS_IMU::GPS_join_data(void)
{
longitude = *(int32_t *)&buffer[0]; // degrees * 10e7
memcpy(&longitude, &buffer[0], sizeof(longitude));// degrees * 10e7
latitude = *(int32_t *)&buffer[4];
//Storing GPS Height above the sea level
altitude = (int32_t)*(int16_t *)&buffer[8] * 10;
int16_t tmp_altitude;
memcpy(&tmp_altitude, &buffer[8], sizeof(tmp_altitude));
altitude = (int32_t) tmp_altitude * 10;
//Storing Speed
speed_3d = ground_speed = (float)*(int16_t *)&buffer[10];
int16_t tmp_speed;
memcpy(&tmp_speed, &buffer[10], sizeof(tmp_speed));
ground_speed = (float)tmp_speed;
speed_3d = ground_speed;
//We skip the gps ground course because we use yaw value from the IMU for ground course
time = *(int32_t *)&buffer[14];
memcpy(&time, &buffer[14], sizeof(time));
imu_health = buffer[15];