Skip to content

Avoid warnings about type-punned #32

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
wants to merge 2 commits into from
Closed

Avoid warnings about type-punned #32

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
26927b8
Update Adafruit_AHRS_Madgwick.cpp
markub3327 Jan 10, 2023
3599cbf
Update Adafruit_AHRS_Mahony.cpp
markub3327 Jan 10, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 11 additions & 9 deletions src/Adafruit_AHRS_Madgwick.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -280,15 +280,17 @@ void Adafruit_Madgwick::updateIMU(float gx, float gy, float gz, float ax,
// Fast inverse square-root
// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root

float Adafruit_Madgwick::invSqrt(float x) {
float halfx = 0.5f * x;
float y = x;
long i = *(long *)&y;
i = 0x5f3759df - (i >> 1);
y = *(float *)&i;
y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y));
return y;
float Adafruit_Madgwick::invSqrt(float x)
{
float halfx = 0.5f * x;
union {
float f;
uint32_t i;
} conv = { .f = x };
conv.i = 0x5f3759df - (conv.i >> 1);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
return y;
}

//-------------------------------------------------------------------------------------------
Expand Down
20 changes: 11 additions & 9 deletions src/Adafruit_AHRS_Mahony.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -259,15 +259,17 @@ void Adafruit_Mahony::updateIMU(float gx, float gy, float gz, float ax,
// Fast inverse square-root
// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root

float Adafruit_Mahony::invSqrt(float x) {
float halfx = 0.5f * x;
float y = x;
long i = *(long *)&y;
i = 0x5f3759df - (i >> 1);
y = *(float *)&i;
y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y));
return y;
float Adafruit_Mahony::invSqrt(float x)
{
float halfx = 0.5f * x;
union {
float f;
uint32_t i;
} conv = { .f = x };
conv.i = 0x5f3759df - (conv.i >> 1);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
conv.f *= 1.5f - (halfx * conv.f * conv.f);
return y;
}

//-------------------------------------------------------------------------------------------
Expand Down