[airborne] replace memcpy with assignment for structs

No reason to use memcpy to copy structs, assignment works since C90.
Normal assignment should actually be preferred as it will better deal with alignment/padding in some cases.

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c

@@ -164,7 +164,7 @@ void stabilization_attitude_set_failsafe_setpoint(void)
 
 void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy)
 {
-  memcpy(&stab_att_sp_euler, rpy, sizeof(struct Int32Eulers));
+  stab_att_sp_euler = *rpy;
 }
 
 void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c

@@ -85,7 +85,7 @@ void stabilization_attitude_set_failsafe_setpoint(void)
 
 void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy)
 {
-  memcpy(&stab_att_sp_euler, rpy, sizeof(struct Int32Eulers));
+  stab_att_sp_euler = *rpy;
 }
 
 void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c

@@ -158,7 +158,7 @@ void stabilization_attitude_set_failsafe_setpoint(void)
 void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy)
 {
   // stab_att_sp_euler.psi still used in ref..
-  memcpy(&stab_att_sp_euler, rpy, sizeof(struct Int32Eulers));
+  stab_att_sp_euler = *rpy;
 
   quat_from_rpy_cmd_i(&stab_att_sp_quat, &stab_att_sp_euler);
 }

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c

@@ -164,7 +164,7 @@ void stabilization_attitude_set_failsafe_setpoint(void)
 void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy)
 {
   // stab_att_sp_euler.psi still used in ref..
-  memcpy(&stab_att_sp_euler, rpy, sizeof(struct Int32Eulers));
+  stab_att_sp_euler = *rpy;
 
   int32_quat_of_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
 }

sw/airborne/modules/mission/mission_common.c

@@ -54,23 +54,23 @@ bool_t mission_insert(enum MissionInsertMode insert, struct _mission_element *el
     case Append:
       tmp = (mission.insert_idx + 1) % MISSION_ELEMENT_NB;
       if (tmp == mission.current_idx) { return FALSE; } // no room to insert element
-      memcpy(&mission.elements[mission.insert_idx], element, sizeof(struct _mission_element)); // add element
+      mission.elements[mission.insert_idx] = *element; // add element
       mission.insert_idx = tmp; // move insert index
       break;
     case Prepend:
       if (mission.current_idx == 0) { tmp = MISSION_ELEMENT_NB - 1; }
       else { tmp = mission.current_idx - 1; }
       if (tmp == mission.insert_idx) { return FALSE; } // no room to inser element
-      memcpy(&mission.elements[tmp], element, sizeof(struct _mission_element)); // add element
+      mission.elements[tmp] = *element; // add element
       mission.current_idx = tmp; // move current index
       break;
     case ReplaceCurrent:
       // current element can always be modified, index are not changed
-      memcpy(&mission.elements[mission.current_idx], element, sizeof(struct _mission_element));
+      mission.elements[mission.current_idx] = *element;
       break;
     case ReplaceAll:
       // reset queue and index
-      memcpy(&mission.elements[0], element, sizeof(struct _mission_element));
+      mission.elements[0] = *element;
       mission.current_idx = 0;
       mission.insert_idx = 1;
       break;

sw/airborne/modules/nav/nav_spiral.c

@@ -65,8 +65,7 @@ bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start,
   nav_spiral.radius = float_vect2_norm(&edge);
 
   // get a copy of the current position
-  struct EnuCoor_f pos_enu;
-  memcpy(&pos_enu, stateGetPositionEnu_f(), sizeof(struct EnuCoor_f));
+  struct EnuCoor_f pos_enu = *stateGetPositionEnu_f();
 
   VECT2_DIFF(nav_spiral.trans_current, pos_enu, nav_spiral.center);
   nav_spiral.trans_current.z = stateGetPositionUtm_f()->alt - nav_spiral.center.z;
@@ -87,8 +86,7 @@ bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start,
 
 bool_t nav_spiral_run(void)
 {
-  struct EnuCoor_f pos_enu;
-  memcpy(&pos_enu, stateGetPositionEnu_f(), sizeof(struct EnuCoor_f));
+  struct EnuCoor_f pos_enu = *stateGetPositionEnu_f();
 
   VECT2_DIFF(nav_spiral.trans_current, pos_enu, nav_spiral.center);
   nav_spiral.dist_from_center = FLOAT_VECT3_NORM(nav_spiral.trans_current);

sw/airborne/state.h

@@ -439,7 +439,7 @@ extern void stateInit(void);
 /// Set the local (flat earth) coordinate frame origin (int).
 static inline void stateSetLocalOrigin_i(struct LtpDef_i *ltp_def)
 {
-  memcpy(&state.ned_origin_i, ltp_def, sizeof(struct LtpDef_i));
+  state.ned_origin_i = *ltp_def;
   /* convert to float */
   ECEF_FLOAT_OF_BFP(state.ned_origin_f.ecef, state.ned_origin_i.ecef);
   LLA_FLOAT_OF_BFP(state.ned_origin_f.lla, state.ned_origin_i.lla);
@@ -459,7 +459,7 @@ static inline void stateSetLocalOrigin_i(struct LtpDef_i *ltp_def)
 /// Set the local (flat earth) coordinate frame origin from UTM (float).
 static inline void stateSetLocalUtmOrigin_f(struct UtmCoor_f *utm_def)
 {
-  memcpy(&state.utm_origin_f, utm_def, sizeof(struct UtmCoor_f));
+  state.utm_origin_f = *utm_def;
   state.utm_initialized_f = TRUE;
 
   /* clear bits for all local frame representations */
@@ -564,7 +564,7 @@ static inline void stateSetPosition_i(
 /// Set position from UTM coordinates (float).
 static inline void stateSetPositionUtm_f(struct UtmCoor_f *utm_pos)
 {
-  memcpy(&state.utm_pos_f, utm_pos, sizeof(struct UtmCoor_f));
+  state.utm_pos_f = *utm_pos;
   /* clear bits for all position representations and only set the new one */
   state.pos_status = (1 << POS_UTM_F);
 }
@@ -628,7 +628,7 @@ static inline void stateSetPosition_f(
     state.pos_status |= (1 << POS_LLA_F);
   }
   if (utm_pos != NULL) {
-    memcpy(&state.utm_pos_f, utm_pos, sizeof(struct UtmCoor_f));
+    state.utm_pos_f = *utm_pos;
     state.pos_status |= (1 << POS_UTM_F);
   }
 }

sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c

@@ -522,9 +522,7 @@ void ahrs_fc_set_body_to_imu_quat(struct FloatQuat *q_b2i)
 
   if (!ahrs_fc.is_aligned) {
     /* Set ltp_to_imu so that body is zero */
-    memcpy(&ahrs_fc.ltp_to_imu_quat, orientationGetQuat_f(&ahrs_fc.body_to_imu),
-           sizeof(struct FloatQuat));
-    memcpy(&ahrs_fc.ltp_to_imu_rmat, orientationGetRMat_f(&ahrs_fc.body_to_imu),
-           sizeof(struct FloatRMat));
+    ahrs_fc.ltp_to_imu_quat = *orientationGetQuat_f(&ahrs_fc.body_to_imu);
+    ahrs_fc.ltp_to_imu_rmat = *orientationGetRMat_f(&ahrs_fc.body_to_imu);
   }
 }

sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c

@@ -190,7 +190,7 @@ static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
 
 static void geo_mag_cb(uint8_t sender_id __attribute__((unused)), struct FloatVect3 *h)
 {
-  memcpy(&ahrs_fc.mag_h, h, sizeof(struct FloatVect3));
+  ahrs_fc.mag_h = *h;
 }
 
 static void gps_cb(uint8_t sender_id __attribute__((unused)),

sw/airborne/subsystems/ahrs/ahrs_float_dcm.c

@@ -530,7 +530,6 @@ void ahrs_dcm_set_body_to_imu_quat(struct FloatQuat *q_b2i)
 
   if (!ahrs_dcm.is_aligned) {
     /* Set ltp_to_imu so that body is zero */
-    memcpy(&ahrs_dcm.ltp_to_imu_euler, orientationGetEulers_f(&ahrs_dcm.body_to_imu),
-           sizeof(struct FloatEulers));
+    ahrs_dcm.ltp_to_imu_euler = *orientationGetEulers_f(&ahrs_dcm.body_to_imu);
   }
 }

sw/airborne/subsystems/ahrs/ahrs_float_invariant.c

@@ -392,7 +392,7 @@ void ahrs_float_inv_set_body_to_imu_quat(struct FloatQuat *q_b2i)
 
   if (!ahrs_float_inv.is_aligned) {
     /* Set ltp_to_imu so that body is zero */
-    memcpy(&ahrs_float_inv.state.quat, q_b2i, sizeof(struct FloatQuat));
+    ahrs_float_inv.state.quat = *q_b2i;
   }
 }
 

sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c

@@ -180,7 +180,7 @@ static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
 
 static void geo_mag_cb(uint8_t sender_id __attribute__((unused)), struct FloatVect3 *h)
 {
-  memcpy(&ahrs_float_inv.mag_h, h, sizeof(struct FloatVect3));
+  ahrs_float_inv.mag_h = *h;
 }
 
 static bool_t ahrs_float_invariant_enable_output(bool_t enable)

sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c

@@ -99,8 +99,7 @@ void ahrs_mlkf_set_body_to_imu_quat(struct FloatQuat *q_b2i)
 
   if (!ahrs_mlkf.is_aligned) {
     /* Set ltp_to_imu so that body is zero */
-    memcpy(&ahrs_mlkf.ltp_to_imu_quat, orientationGetQuat_f(&ahrs_mlkf.body_to_imu),
-           sizeof(struct FloatQuat));
+    ahrs_mlkf.ltp_to_imu_quat = *orientationGetQuat_f(&ahrs_mlkf.body_to_imu);
   }
 }
 
@@ -371,7 +370,7 @@ static inline void reset_state(void)
   struct FloatQuat q_tmp;
   float_quat_comp(&q_tmp, &ahrs_mlkf.ltp_to_imu_quat, &ahrs_mlkf.gibbs_cor);
   float_quat_normalize(&q_tmp);
-  memcpy(&ahrs_mlkf.ltp_to_imu_quat, &q_tmp, sizeof(ahrs_mlkf.ltp_to_imu_quat));
+  ahrs_mlkf.ltp_to_imu_quat = q_tmp;
   float_quat_identity(&ahrs_mlkf.gibbs_cor);
 
 }

sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c

@@ -150,7 +150,7 @@ static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
 
 static void geo_mag_cb(uint8_t sender_id __attribute__((unused)), struct FloatVect3 *h)
 {
-  memcpy(&ahrs_mlkf.mag_h, h, sizeof(struct FloatVect3));
+  ahrs_mlkf.mag_h = *h;
 }
 
 static bool_t ahrs_mlkf_enable_output(bool_t enable)

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c

@@ -285,7 +285,6 @@ void ahrs_ice_set_body_to_imu_quat(struct FloatQuat *q_b2i)
 
   if (!ahrs_ice.is_aligned) {
     /* Set ltp_to_imu so that body is zero */
-    memcpy(&ahrs_ice.ltp_to_imu_euler, orientationGetEulers_i(&ahrs_ice.body_to_imu),
-           sizeof(struct Int32Eulers));
+    ahrs_ice.ltp_to_imu_euler = *orientationGetEulers_i(&ahrs_ice.body_to_imu);
   }
 }

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

@@ -653,7 +653,6 @@ void ahrs_icq_set_body_to_imu_quat(struct FloatQuat *q_b2i)
 
   if (!ahrs_icq.is_aligned) {
     /* Set ltp_to_imu so that body is zero */
-    memcpy(&ahrs_icq.ltp_to_imu_quat, orientationGetQuat_i(&ahrs_icq.body_to_imu),
-           sizeof(struct Int32Quat));
+    ahrs_icq.ltp_to_imu_quat = *orientationGetQuat_i(&ahrs_icq.body_to_imu);
   }
 }

sw/airborne/subsystems/imu.c

@@ -152,7 +152,7 @@ void imu_init(void)
 void imu_SetBodyToImuPhi(float phi)
 {
   struct FloatEulers body_to_imu_eulers;
-  memcpy(&body_to_imu_eulers, orientationGetEulers_f(&imu.body_to_imu), sizeof(struct FloatEulers));
+  body_to_imu_eulers = *orientationGetEulers_f(&imu.body_to_imu);
   body_to_imu_eulers.phi = phi;
   orientationSetEulers_f(&imu.body_to_imu, &body_to_imu_eulers);
   AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
@@ -161,7 +161,7 @@ void imu_SetBodyToImuPhi(float phi)
 void imu_SetBodyToImuTheta(float theta)
 {
   struct FloatEulers body_to_imu_eulers;
-  memcpy(&body_to_imu_eulers, orientationGetEulers_f(&imu.body_to_imu), sizeof(struct FloatEulers));
+  body_to_imu_eulers = *orientationGetEulers_f(&imu.body_to_imu);
   body_to_imu_eulers.theta = theta;
   orientationSetEulers_f(&imu.body_to_imu, &body_to_imu_eulers);
   AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
@@ -170,7 +170,7 @@ void imu_SetBodyToImuTheta(float theta)
 void imu_SetBodyToImuPsi(float psi)
 {
   struct FloatEulers body_to_imu_eulers;
-  memcpy(&body_to_imu_eulers, orientationGetEulers_f(&imu.body_to_imu), sizeof(struct FloatEulers));
+  body_to_imu_eulers = *orientationGetEulers_f(&imu.body_to_imu);
   body_to_imu_eulers.psi = psi;
   orientationSetEulers_f(&imu.body_to_imu, &body_to_imu_eulers);
   AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
@@ -183,7 +183,7 @@ void imu_SetBodyToImuCurrent(float set)
   if (imu.b2i_set_current) {
     // adjust imu_to_body roll and pitch by current NedToBody roll and pitch
     struct FloatEulers body_to_imu_eulers;
-    memcpy(&body_to_imu_eulers, orientationGetEulers_f(&imu.body_to_imu), sizeof(struct FloatEulers));
+    body_to_imu_eulers = *orientationGetEulers_f(&imu.body_to_imu);
     if (stateIsAttitudeValid()) {
       // adjust imu_to_body roll and pitch by current NedToBody roll and pitch
       body_to_imu_eulers.phi += stateGetNedToBodyEulers_f()->phi;

sw/airborne/subsystems/ins/ins_alt_float.c

@@ -180,7 +180,7 @@ void ins_alt_float_update_baro(float pressure)
     utm.alt = ins_altf.alt;
     stateSetPositionUtm_f(&utm);
     struct NedCoor_f ned_vel;
-    memcpy(&ned_vel, stateGetSpeedNed_f(), sizeof(struct NedCoor_f));
+    ned_vel = *stateGetSpeedNed_f();
     ned_vel.z = -ins_altf.alt_dot;
     stateSetSpeedNed_f(&ned_vel);
   }

sw/airborne/subsystems/ins/ins_float_invariant.c

@@ -699,6 +699,6 @@ void ins_float_inv_set_body_to_imu_quat(struct FloatQuat *q_b2i)
 
   if (!ins_float_inv.is_aligned) {
     /* Set ltp_to_imu so that body is zero */
-    memcpy(&ins_float_inv.state.quat, q_b2i, sizeof(struct FloatQuat));
+    ins_float_inv.state.quat = *q_b2i;
   }
 }

sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c

@@ -140,7 +140,7 @@ static void accel_cb(uint8_t sender_id __attribute__((unused)),
                      uint32_t stamp __attribute__((unused)),
                      struct Int32Vect3 *accel)
 {
-  memcpy(&ins_finv_accel, accel, sizeof(struct Int32Vect3));
+  ins_finv_accel = *accel;
 }
 
 static void mag_cb(uint8_t sender_id __attribute__((unused)),
@@ -170,7 +170,7 @@ static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
 
 static void geo_mag_cb(uint8_t sender_id __attribute__((unused)), struct FloatVect3 *h)
 {
-  memcpy(&ins_float_inv.mag_h, h, sizeof(struct FloatVect3));
+  ins_float_inv.mag_h = *h;
 }
 
 static void gps_cb(uint8_t sender_id __attribute__((unused)),

sw/airborne/subsystems/ins/ins_int.c

@@ -345,8 +345,7 @@ void ins_int_update_gps(struct GpsState *gps_s)
     .z = INS_BODY_TO_GPS_Z
   };
   /* rotate offset given in body frame to navigation/ltp frame using current attitude */
-  struct Int32Quat q_b2n;
-  memcpy(&q_b2n, stateGetNedToBodyQuat_i(), sizeof(struct Int32Quat));
+  struct Int32Quat q_b2n = *stateGetNedToBodyQuat_i();
   QUAT_INVERT(q_b2n, q_b2n);
   struct Int32Vect3 b2g_n;
   int32_quat_vmult(&b2g_n, &q_b2n, &b2g_b);

sw/airborne/subsystems/navigation/waypoints.c

@@ -101,7 +101,7 @@ float waypoint_get_alt(uint8_t wp_id)
 void waypoint_set_enu_i(uint8_t wp_id, struct EnuCoor_i *enu)
 {
   if (wp_id < nb_waypoint) {
-    memcpy(&waypoints[wp_id].enu_i, enu, sizeof(struct EnuCoor_i));
+    waypoints[wp_id].enu_i = *enu;
     SetBit(waypoints[wp_id].flags, WP_FLAG_ENU_I);
     ENU_FLOAT_OF_BFP(waypoints[wp_id].enu_f, waypoints[wp_id].enu_i);
     SetBit(waypoints[wp_id].flags, WP_FLAG_ENU_F);
@@ -113,7 +113,7 @@ void waypoint_set_enu_i(uint8_t wp_id, struct EnuCoor_i *enu)
 void waypoint_set_enu(uint8_t wp_id, struct EnuCoor_f *enu)
 {
   if (wp_id < nb_waypoint) {
-    memcpy(&waypoints[wp_id].enu_f, enu, sizeof(struct EnuCoor_f));
+    waypoints[wp_id].enu_f = *enu;
     SetBit(waypoints[wp_id].flags, WP_FLAG_ENU_I);
     ENU_BFP_OF_REAL(waypoints[wp_id].enu_i, waypoints[wp_id].enu_f);
     SetBit(waypoints[wp_id].flags, WP_FLAG_ENU_F);
@@ -172,7 +172,7 @@ void waypoint_set_lla(uint8_t wp_id, struct LlaCoor_i *lla)
   if (wp_id >= nb_waypoint) {
     return;
   }
-  memcpy(&waypoints[wp_id].lla, lla, sizeof(struct LlaCoor_i));
+  waypoints[wp_id].lla = *lla;
   SetBit(waypoints[wp_id].flags, WP_FLAG_LLA_I);
   waypoint_localize(wp_id);
 }
@@ -254,7 +254,7 @@ void waypoint_localize(uint8_t wp_id)
     enu.x = POS_BFP_OF_REAL(enu.x) / 100;
     enu.y = POS_BFP_OF_REAL(enu.y) / 100;
     enu.z = POS_BFP_OF_REAL(enu.z) / 100;
-    memcpy(&waypoints[wp_id].enu_i, &enu, sizeof(struct EnuCoor_i));
+    waypoints[wp_id].enu_i = enu;
     SetBit(waypoints[wp_id].flags, WP_FLAG_ENU_I);
     ENU_FLOAT_OF_BFP(waypoints[wp_id].enu_f, waypoints[wp_id].enu_i);
     SetBit(waypoints[wp_id].flags, WP_FLAG_ENU_F);
@@ -295,6 +295,6 @@ struct LlaCoor_i *waypoint_get_lla(uint8_t wp_id)
 void waypoint_copy(uint8_t wp_dest, uint8_t wp_src)
 {
   if (wp_dest < nb_waypoint && wp_src < nb_waypoint) {
-    memcpy(&waypoints[wp_dest], &waypoints[wp_src], sizeof(struct Waypoint));
+    waypoints[wp_dest] = waypoints[wp_src];
   }
 }

sw/lib/python/pprz_msg/message.py

@@ -3,7 +3,7 @@
 
 """
 
-from __future__ import print_function
+from __future__ import print_function./
 import sys
 import json
 import messages_xml_map