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mavlink_mission: improve comments about casting

This commit is contained in:
Julian Oes 2016-09-14 11:11:56 +02:00 committed by Lorenz Meier
parent 238f597b78
commit 660a9e13e7
1 changed files with 6 additions and 2 deletions
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8
src/modules/mavlink/mavlink_mission.cpp
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@ -885,7 +885,9 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
if (_int_mode) {
/* The argument is actually a mavlink_mission_item_int_t in int_mode */
/* The argument is actually a mavlink_mission_item_int_t in int_mode.
* mavlink_mission_item_t and mavlink_mission_item_int_t have the same
* alignment, so we can just swap float for int32_t. */
const mavlink_mission_item_int_t *item_int
= reinterpret_cast<const mavlink_mission_item_int_t *>(mavlink_mission_item);
mission_item->lat = ((double)item_int->x)*1e-7;
@ -1058,7 +1060,9 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
mavlink_mission_item->param4 = 0.0f;
if (_int_mode) {
// This function actually receives a mavlink_mission_item_int_t in _int_mode.
// This function actually receives a mavlink_mission_item_int_t in _int_mode
// which has the same alignment as mavlink_mission_item_t and the only
// difference is int32_t vs. float for x and y.
mavlink_mission_item_int_t *item_int =
reinterpret_cast<mavlink_mission_item_int_t *>(mavlink_mission_item);