Merge pull request #12 from markub3327/master

Avoid warnings about `type-punned`
aster94 · Jan 10, 2023 · 28a74ab · 28a74ab
2 parents 91e68c8 + a2cd7bd
commit 28a74ab
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/src/SensorFusion.cpp b/src/SensorFusion.cpp
@@ -57,12 +57,13 @@ SF::SF()
 float SF::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));
+	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;
 }