Qt-how to convert a QByteArray to struct

Question

I need to convert a QByteArray to structure. I have a structure like this:

   struct mavlink_attitude_t
      {
          /// <summary> Timestamp (milliseconds since system boot) </summary>
            quint32 time_boot_ms;
              /// <summary> Roll angle (rad, -pi..+pi) </summary>
            float roll;
              /// <summary> Pitch angle (rad, -pi..+pi) </summary>
            float pitch;
              /// <summary> Yaw angle (rad, -pi..+pi) </summary>
            float yaw;
              /// <summary> Roll angular speed (rad/s) </summary>
            float rollspeed;
              /// <summary> Pitch angular speed (rad/s) </summary>
            float pitchspeed;
              /// <summary> Yaw angular speed (rad/s) </summary>
            float yawspeed;

      };

and I have a QbyteArray comes from the serial port. I already used union but I think it can't be used for QByteArray . Is there any other way? an example can really help.

Answer 1

You can cast it:

QByteArray arr;
mavlink_attitude_t* m = reinterpret_cast<mavlink_attitude_t*>(arr.data());

Answer 2

The accepted response could not work. .data() is null terminated.
You have floats and ints, use shift left.
Example:

mavlink_attitude_t.time_boot_ms = (bytearray.at(0) & 0xFFFF)      |
                                  (bytearray.at(1) & 0xFFFF) << 8 |
                                  (bytearray.at(2) & 0xFFFF) << 16|
                                  (bytearray.at(3) & 0xFFFF) << 24

if you use Little endian, inverse the indexs.