diff --git a/libraries/AP_Beacon/AP_Beacon.cpp b/libraries/AP_Beacon/AP_Beacon.cpp
index 9bba0ac5a3..76fad854b6 100644
--- a/libraries/AP_Beacon/AP_Beacon.cpp
+++ b/libraries/AP_Beacon/AP_Beacon.cpp
@@ -140,8 +140,8 @@ bool AP_Beacon::get_origin(Location &origin_loc) const
 
     // return origin
     origin_loc = {};
-    origin_loc.lat = origin_lat * 1.0e7;
-    origin_loc.lng = origin_lon * 1.0e7;
+    origin_loc.lat = origin_lat * 1.0e7f;
+    origin_loc.lng = origin_lon * 1.0e7f;
     origin_loc.alt = origin_alt * 100;
 
     return true;
diff --git a/libraries/AP_Beacon/AP_Beacon_SITL.cpp b/libraries/AP_Beacon/AP_Beacon_SITL.cpp
index 33c602f1ba..6af3de91f4 100644
--- a/libraries/AP_Beacon/AP_Beacon_SITL.cpp
+++ b/libraries/AP_Beacon/AP_Beacon_SITL.cpp
@@ -68,13 +68,13 @@ void AP_Beacon_SITL::update(void)
     Location current_loc;
     current_loc.lat = sitl->state.latitude * 1.0e7f;
     current_loc.lng = sitl->state.longitude * 1.0e7f;
-    current_loc.alt = sitl->state.altitude * 1.0e2f;
+    current_loc.alt = sitl->state.altitude * 1.0e2;
 
     // where the beacon system origin is located
     Location beacon_origin;
     beacon_origin.lat = get_beacon_origin_lat() * 1.0e7f;
     beacon_origin.lng = get_beacon_origin_lon() * 1.0e7f;
-    beacon_origin.alt = get_beacon_origin_alt() * 1.0e2f;
+    beacon_origin.alt = get_beacon_origin_alt() * 1.0e2;
 
     // position of each beacon
     Location beacon_loc = beacon_origin;
@@ -100,8 +100,8 @@ void AP_Beacon_SITL::update(void)
     Vector2f beac_diff = location_diff(beacon_origin, beacon_loc);
     Vector2f veh_diff = location_diff(beacon_origin, current_loc);
 
-    Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (current_loc.alt - beacon_origin.alt)*1.0e-2);
-    Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_origin.alt - beacon_loc.alt)*1.0e-2);
+    Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (current_loc.alt - beacon_origin.alt)*1.0e-2f);
+    Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_origin.alt - beacon_loc.alt)*1.0e-2f);
     Vector3f beac_veh_offset = veh_pos3d - beac_pos3d;
 
     set_beacon_position(beacon_id, beac_pos3d);