From 1465adca2f23a878a1d523ee9f0598b967fd21da Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 4 Jan 2017 11:05:43 +0100 Subject: [PATCH] EKF: Improve use of memcpy Changes made to remove Coverity scan errors --- EKF/estimator_interface.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp index 2f15d9a424..b5457f38d6 100644 --- a/EKF/estimator_interface.cpp +++ b/EKF/estimator_interface.cpp @@ -115,8 +115,8 @@ void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, u // copy data imuSample imu_sample_new = {}; - memcpy(&imu_sample_new.delta_ang._data[0], delta_ang, sizeof(imu_sample_new.delta_ang._data)); - memcpy(&imu_sample_new.delta_vel._data[0], delta_vel, sizeof(imu_sample_new.delta_vel._data)); + memcpy(&imu_sample_new.delta_ang, delta_ang, sizeof(imu_sample_new.delta_ang)); + memcpy(&imu_sample_new.delta_vel, delta_vel, sizeof(imu_sample_new.delta_vel)); // convert time from us to secs imu_sample_new.delta_ang_dt = delta_ang_dt / 1e6f; @@ -169,7 +169,7 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float *data) _time_last_mag = time_usec; - memcpy(&mag_sample_new.mag._data[0], data, sizeof(mag_sample_new.mag._data)); + memcpy(&mag_sample_new.mag, data, sizeof(mag_sample_new.mag)); _mag_buffer.push(mag_sample_new); }