diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index c94ac3726f..41637a1f77 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -842,7 +842,7 @@ void loop()
     perf_info_check_loop_time(timer - fast_loopTimer);
 
     // used by PI Loops
-    G_Dt                    = (float)(timer - fast_loopTimer) / 1000000.f;
+    G_Dt                    = (float)(timer - fast_loopTimer) / 1000000.0f;
     fast_loopTimer          = timer;
 
     // for mainloop failure monitoring
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 25ec07aeb0..3b01446995 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -762,7 +762,7 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
     // parameter sends
     if ((stream_num != STREAM_PARAMS) &&
         (waypoint_receiving || _queued_parameter != NULL)) {
-        rate *= 0.25;
+        rate *= 0.25f;
     }
 
     if (rate <= 0) {
diff --git a/ArduCopter/control_drift.pde b/ArduCopter/control_drift.pde
index f855b9210e..9e127cf686 100644
--- a/ArduCopter/control_drift.pde
+++ b/ArduCopter/control_drift.pde
@@ -40,8 +40,8 @@ static bool drift_init(bool ignore_checks)
 // should be called at 100hz or more
 static void drift_run()
 {
-    static float breaker = 0.0;
-    static float roll_input = 0.0;
+    static float breaker = 0.0f;
+    static float roll_input = 0.0f;
     float target_roll, target_pitch;
     float target_yaw_rate;
     int16_t pilot_throttle_scaled;
@@ -72,7 +72,7 @@ static void drift_run()
     roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
     pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
     
-    roll_input = roll_input * .96 + (float)g.rc_4.control_in * .04;
+    roll_input = roll_input * .96f + (float)g.rc_4.control_in * .04f;
 
     //convert user input into desired roll velocity
     float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
@@ -84,11 +84,11 @@ static void drift_run()
     // If we let go of sticks, bring us to a stop
     if(target_pitch == 0){
         // .14/ (.03 * 100) = 4.6 seconds till full breaking
-        breaker += .03;
+        breaker += .03f;
         breaker = min(breaker, DRIFT_SPEEDGAIN);
         target_pitch = pitch_vel * breaker;
     }else{
-        breaker = 0.0;
+        breaker = 0.0f;
     }
 
     // call attitude controller
@@ -108,7 +108,7 @@ int16_t get_throttle_assist(float velz, int16_t pilot_throttle_scaled)
     if (pilot_throttle_scaled > g.throttle_min && pilot_throttle_scaled < THR_MAX &&
         pilot_throttle_scaled > DRIFT_THR_MIN && pilot_throttle_scaled < DRIFT_THR_MAX) {
         // calculate throttle assist gain
-        thr_assist = 1.2 - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
+        thr_assist = 1.2f - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
         thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_ASSIST_GAIN * velz;
 
         // ensure throttle assist never adjusts the throttle by more than 300 pwm
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 94267d42da..0d1e1c081d 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -113,7 +113,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
         delay(20);
         if (millis() - fast_loopTimer > 19) {
             delta_ms_fast_loop      = millis() - fast_loopTimer;
-            G_Dt                    = (float)delta_ms_fast_loop / 1000.f;                       // used by DCM integrator
+            G_Dt                    = (float)delta_ms_fast_loop / 1000.0f;                       // used by DCM integrator
             fast_loopTimer          = millis();
 
             // INS