diff --git a/libraries/AP_GyroFFT/AP_GyroFFT.cpp b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
index b7978facc0..74d19e9cf8 100644
--- a/libraries/AP_GyroFFT/AP_GyroFFT.cpp
+++ b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
@@ -283,7 +283,7 @@ void AP_GyroFFT::init(uint32_t target_looptime_us)
     // per-axis frame time
     _frame_time_ms = _samples_per_frame * 1000 / _fft_sampling_rate_hz;
     // The update rate for the output, defaults are 1Khz / (1 - 0.5) * 32 == 62hz
-    const float output_rate = _fft_sampling_rate_hz / _samples_per_frame;
+    const float output_rate = static_cast<float>(_fft_sampling_rate_hz) / static_cast<float>(_samples_per_frame);
     // establish suitable defaults for the detected values
     for (uint8_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         _thread_state._center_freq_hz[axis] = _fft_min_hz;
@@ -655,7 +655,7 @@ float AP_GyroFFT::get_slewed_noise_center_freq_hz(FrequencyPeak peak, uint8_t ax
 {
     uint32_t now = AP_HAL::micros();
     const float slew = MIN(1.0f, (now - _global_state._last_output_us[axis])
-        * (_fft_sampling_rate_hz / _samples_per_frame) / 1e6f);
+        * (static_cast<float>(_fft_sampling_rate_hz) / static_cast<float>(_samples_per_frame)) * 1e-6f);
     return (_global_state._prev_center_freq_hz_filtered[peak][axis]
         + (_global_state._center_freq_hz_filtered[peak][axis] - _global_state._prev_center_freq_hz_filtered[peak][axis]) * slew);
 }
@@ -1133,7 +1133,7 @@ void AP_GyroFFT::update_ref_energy(uint16_t max_bin)
         }
         if (--_noise_calibration_cycles[_update_axis] == 0) {
             for (uint16_t i = 1; i < _state->_bin_count; i++) {
-                const float cycles = (_window_size / _samples_per_frame) * 2;
+                const float cycles = (static_cast<float>(_window_size) / static_cast<float>(_samples_per_frame)) * 2;
                 // overall random noise is reduced by sqrt(N) when averaging periodigrams so adjust for that
                 _ref_energy[_update_axis][i] = (_ref_energy[_update_axis][i] / cycles) * sqrtf(cycles);
             }