diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index a3a6cdb74f..71b2341e70 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -35,7 +35,7 @@ void Copter::Log_Write_Control_Tuning()
     float des_alt_m = 0.0f;
     int16_t target_climb_rate_cms = 0;
     if (!flightmode->has_manual_throttle()) {
-        des_alt_m = pos_control->get_pos_target_z_cm() / 100.0f;
+        des_alt_m = pos_control->get_pos_target_z_cm() * 0.01f;
         target_climb_rate_cms = pos_control->get_vel_target_z_cms();
     }
 
diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index 81a24c3d81..ab722e4ca3 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -147,7 +147,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
 
         // pass through throttle to motors
         SRV_Channels::cork();
-        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
+        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
         SRV_Channels::push();
 
         // read some compass values
@@ -157,7 +157,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
         battery.read();
 
         // calculate scaling for throttle
-        throttle_pct = (float)channel_throttle->get_control_in() / 1000.0f;
+        throttle_pct = (float)channel_throttle->get_control_in() * 0.001f;
         throttle_pct = constrain_float(throttle_pct,0.0f,1.0f);
 
         // record maximum throttle
diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp
index 1457502252..b4c5c11906 100644
--- a/ArduCopter/esc_calibration.cpp
+++ b/ArduCopter/esc_calibration.cpp
@@ -96,7 +96,7 @@ void Copter::esc_calibration_passthrough()
 
         // pass through to motors
         SRV_Channels::cork();
-        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
+        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
         SRV_Channels::push();
     }
 #endif  // FRAME_CONFIG != HELI_FRAME
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index f475e7ffc8..1b31f7b54c 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -713,7 +713,7 @@ void Mode::land_run_horizontal_control()
         // interpolate for 1m above that
         const float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(),
                                                      g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
-        const float thrust_vector_max = sinf(radians(attitude_limit_cd / 100.0f)) * GRAVITY_MSS * 100.0f;
+        const float thrust_vector_max = sinf(radians(attitude_limit_cd * 0.01f)) * GRAVITY_MSS * 100.0f;
         const float thrust_vector_mag = thrust_vector.xy().length();
         if (thrust_vector_mag > thrust_vector_max) {
             float ratio = thrust_vector_max / thrust_vector_mag;
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 8551a7d5ed..cb4c9fde1e 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -179,7 +179,7 @@ void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input)
         for (uint8_t i=0; i<2; i++) {
             float &velocity = sensor_flow[i];
             float abs_vel_cms = fabsf(velocity)*100;
-            const float brake_gain = (15.0f * brake_rate_dps.get() + 95.0f) / 100.0f;
+            const float brake_gain = (15.0f * brake_rate_dps.get() + 95.0f) * 0.01f;
             float lean_angle_cd = brake_gain * abs_vel_cms * (1.0f+500.0f/(abs_vel_cms+60.0f));
             if (velocity < 0) {
                 lean_angle_cd = -lean_angle_cd;
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index 4862c12295..484dbf2f39 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -41,7 +41,7 @@ bool ModePosHold::init(bool ignore_checks)
     pilot_pitch = 0.0f;
 
     // compute brake_gain
-    brake.gain = (15.0f * (float)g.poshold_brake_rate + 95.0f) / 100.0f;
+    brake.gain = (15.0f * (float)g.poshold_brake_rate + 95.0f) * 0.01f;
 
     if (copter.ap.land_complete) {
         // if landed begin in loiter mode
diff --git a/ArduCopter/mode_turtle.cpp b/ArduCopter/mode_turtle.cpp
index 552bcad266..72a431c0f7 100644
--- a/ArduCopter/mode_turtle.cpp
+++ b/ArduCopter/mode_turtle.cpp
@@ -85,7 +85,7 @@ void ModeTurtle::change_motor_direction(bool reverse)
 
 void ModeTurtle::run()
 {
-    const float flip_power_factor = 1.0f - CRASH_FLIP_EXPO / 100.0f;
+    const float flip_power_factor = 1.0f - CRASH_FLIP_EXPO * 0.01f;
     const bool norc = copter.failsafe.radio || !copter.ap.rc_receiver_present;
     const float stick_deflection_pitch = norc ? 0.0f : channel_pitch->norm_input_dz();
     const float stick_deflection_roll = norc ? 0.0f : channel_roll->norm_input_dz();