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use gcc attributes to align and pack

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This commit is contained in:
Daniel Agar
2016-04-27 20:44:15 -04:00
committed by Lorenz Meier
parent 76387b1693
commit eb29b33620
14 changed files with 47 additions and 25 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -4
View File
@@ -490,8 +490,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
enum Rotation flow_rot;
param_get(param_find("SENS_FLOW_ROT"), &flow_rot);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
struct optical_flow_s f = {};
f.timestamp = flow.time_usec;
f.integration_timespan = flow.integration_time_us;
@@ -508,8 +507,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
/* rotate measurements according to parameter */
float zeroval = 0.0f;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral);
rotate_3f(flow_rot, &f.pixel_flow_x_integral, &f.pixel_flow_y_integral, &zeroval);
rotate_3f(flow_rot, &f.gyro_x_rate_integral, &f.gyro_y_rate_integral, &f.gyro_z_rate_integral);
if (_flow_pub == nullptr) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
src/modules/uORB/uORB.h
+7
View File
@@ -46,6 +46,13 @@
// Hack until everything is using this header
#include <systemlib/visibility.h>
// Macro to define packed structures
#ifdef __GNUC__
#define ORBPACKED( __Declaration__ ) __Declaration__ __attribute__((aligned(4), packed))
#else
#define ORBPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
#endif
/**
* Object metadata.
*/