From 481b9b3798431588fe742a25dfccab3c7027dcdf Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Sat, 9 Feb 2019 18:09:39 -0800
Subject: [PATCH] fix type punned pointer warnings

---
 main/MadgwickAHRS.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/main/MadgwickAHRS.cpp b/main/MadgwickAHRS.cpp
index 38a8f8b..6b74d27 100644
--- a/main/MadgwickAHRS.cpp
+++ b/main/MadgwickAHRS.cpp
@@ -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;