compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile] #172
Description
Describe the bug
Compiling with 5.1 Arduino and ESP-IDF 5.1.1 brings the following Warnings:
To reproduce
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp: In function 'void MahonyAHRSupdate(float, float, float, float, float, float, float, float, float)':
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:122:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
122 | integralFBx += twoKi * halfex *
| ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
123 | (1.0f / sampleFreq); // integral error scaled by Ki
| ~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:124:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
124 | integralFBy += twoKi * halfey * (1.0f / sampleFreq);
| ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:125:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
125 | integralFBz += twoKi * halfez * (1.0f / sampleFreq);
| ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:148:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
148 | q0 += (-qb * gx - qc * gy - q3 * gz);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:149:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
149 | q1 += (qa * gx + qc * gz - q3 * gy);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:150:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
150 | q2 += (qa * gy - qb * gz + q3 * gx);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:151:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
151 | q3 += (qa * gz + qb * gy - qc * gx);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:155:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
155 | q0 *= recipNorm;
| ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:156:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
156 | q1 *= recipNorm;
| ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:157:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
157 | q2 *= recipNorm;
| ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:158:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
158 | q3 *= recipNorm;
| ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp: In function 'void MahonyAHRSupdateIMU(float, float, float, float, float, float, float*, float*, float*)':
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:194:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
194 | integralFBx += twoKi * halfex *
| ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
195 | (1.0f / sampleFreq); // integral error scaled by Ki
| ~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:196:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
196 | integralFBy += twoKi * halfey * (1.0f / sampleFreq);
| ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:197:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
197 | integralFBz += twoKi * halfez * (1.0f / sampleFreq);
| ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:220:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
220 | q0 += (-qb * gx - qc * gy - q3 * gz);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:221:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
221 | q1 += (qa * gx + qc * gz - q3 * gy);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:222:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
222 | q2 += (qa * gy - qb * gz + q3 * gx);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:223:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
223 | q3 += (qa * gz + qb * gy - qc * gx);
| ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:227:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
227 | q0 *= recipNorm;
| ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:228:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
228 | q1 *= recipNorm;
| ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:229:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
229 | q2 *= recipNorm;
| ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:230:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
230 | q3 *= recipNorm;
| ~~~^~~~~~~~~~~~