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fix type punned pointer warnings

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This commit is contained in:
Alex Mikhalev 2019-02-09 18:09:39 -08:00
parent ee729814ca
commit 481b9b3798
1 changed files with 6 additions and 2 deletions
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8
main/MadgwickAHRS.cpp
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@ -21,6 +21,7 @@
#include "MadgwickAHRS.h"
#include <math.h>
#include <string.h>
//-------------------------------------------------------------------------------------------
// Definitions
@ -269,9 +270,12 @@ void Madgwick::updateIMU(float gx, float gy, float gz, float ax, float ay,
float Madgwick::invSqrt(float x) {
float halfx = 0.5f * x;
float y = x;
long i = *(long *)&y;
// long i = *(long *)&y;
long i;
memcpy(&i, &y, sizeof(float));
i = 0x5f3759df - (i >> 1);
y = *(float *)&i;
// y = *(float *)&i;
memcpy(&y, &i, sizeof(float));
y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y));
return y;