diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp
index 9c55d2f921..c145615fdd 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI055.cpp
@@ -256,7 +256,7 @@ void AP_InertialSensor_BMI055::read_fifo_accel(void)
         return;
     }
     // data is 12 bits with 16g range, 7.81mg/LSB
-    const float scale = 7.81 * 0.001 * GRAVITY_MSS / 16.0;
+    const float scale = 7.81 * 0.001 * GRAVITY_MSS / 16.0f;
     for (uint8_t i = 0; i < num_frames; i++) {
         const uint8_t *d = &data[i*6];
         int16_t xyz[3] {
@@ -277,7 +277,7 @@ void AP_InertialSensor_BMI055::read_fifo_accel(void)
         if (!dev_accel->read_registers(REGA_ACCD_TEMP, (uint8_t *)&t, 1)) {
             _inc_accel_error_count(accel_instance);
         } else {
-            float temp_degc = (0.5 * t) + 23.0;
+            float temp_degc = (0.5f * t) + 23.0f;
             _publish_temperature(accel_instance, temp_degc);
         }
     }
@@ -313,7 +313,7 @@ void AP_InertialSensor_BMI055::read_fifo_gyro(void)
     }
 
     // data is 16 bits with 2000dps range
-    const float scale = radians(2000.0) / 32767.0;
+    const float scale = radians(2000.0f) / 32767.0f;
     for (uint8_t i = 0; i < num_frames; i++) {
         const uint8_t *d = &data[i*6];
         int16_t xyz[3] {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
index 404b2b5782..8bf807e1d7 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
@@ -333,7 +333,7 @@ void AP_InertialSensor_BMI088::read_fifo_accel(void)
         } else {
             uint16_t temp_uint11 = (tbuf[0]<<3) | (tbuf[1]>>5);
             int16_t temp_int11 = temp_uint11>1023?temp_uint11-2048:temp_uint11;
-            float temp_degc = temp_int11 * 0.125 + 23;
+            float temp_degc = temp_int11 * 0.125f + 23;
             _publish_temperature(accel_instance, temp_degc);
         }
     }
@@ -365,7 +365,7 @@ void AP_InertialSensor_BMI088::read_fifo_gyro(void)
     }
 
     // data is 16 bits with 2000dps range
-    const float scale = radians(2000.0) / 32767.0;
+    const float scale = radians(2000.0f) / 32767.0f;
     for (uint8_t i = 0; i < num_frames; i++) {
         const uint8_t *d = &data[i*6];
         int16_t xyz[3] {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 3e00d2f0a0..af8e9e4cc0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -62,18 +62,18 @@ void AP_InertialSensor_Backend::_update_sensor_rate(uint16_t &count, uint32_t &s
     } else {
         count++;
         if (now - start_us > 1000000UL) {
-            float observed_rate_hz = count * 1.0e6 / (now - start_us);
+            float observed_rate_hz = count * 1.0e6f / (now - start_us);
 #if SENSOR_RATE_DEBUG
             printf("RATE: %.1f should be %.1f\n", observed_rate_hz, rate_hz);
 #endif
-            float filter_constant = 0.98;
-            float upper_limit = 1.05;
-            float lower_limit = 0.95;
+            float filter_constant = 0.98f;
+            float upper_limit = 1.05f;
+            float lower_limit = 0.95f;
             if (AP_HAL::millis() < 30000) {
                 // converge quickly for first 30s, then more slowly
-                filter_constant = 0.8;
-                upper_limit = 2.0;
-                lower_limit = 0.5;
+                filter_constant = 0.8f;
+                upper_limit = 2.0f;
+                lower_limit = 0.5f;
             }
             observed_rate_hz = constrain_float(observed_rate_hz, rate_hz*lower_limit, rate_hz*upper_limit);
             rate_hz = filter_constant * rate_hz + (1-filter_constant) * observed_rate_hz;
@@ -158,7 +158,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
       difference between the two is whether sample_us is provided.
      */
     if (sample_us != 0 && _imu._gyro_last_sample_us[instance] != 0) {
-        dt = (sample_us - _imu._gyro_last_sample_us[instance]) * 1.0e-6;
+        dt = (sample_us - _imu._gyro_last_sample_us[instance]) * 1.0e-6f;
     } else {
         // don't accept below 100Hz
         if (_imu._gyro_raw_sample_rates[instance] < 100) {
@@ -291,7 +291,7 @@ void AP_InertialSensor_Backend::_notify_new_accel_raw_sample(uint8_t instance,
       difference between the two is whether sample_us is provided.
      */
     if (sample_us != 0 && _imu._accel_last_sample_us[instance] != 0) {
-        dt = (sample_us - _imu._accel_last_sample_us[instance]) * 1.0e-6;
+        dt = (sample_us - _imu._accel_last_sample_us[instance]) * 1.0e-6f;
     } else {
         // don't accept below 100Hz
         if (_imu._accel_raw_sample_rates[instance] < 100) {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
index 086d690813..fbba121974 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@@ -226,30 +226,30 @@ void AP_InertialSensor_Invensense::start()
      */
     switch (_mpu_type) {
     case Invensense_MPU9250:
-        temp_zero = 21;
-        temp_sensitivity = 1.0/340;
+        temp_zero = 21.0f;
+        temp_sensitivity = 1.0f/340;
         break;
 
     case Invensense_MPU6000:
     case Invensense_MPU6500:
-        temp_zero = 36.53;
-        temp_sensitivity = 1.0/340;
+        temp_zero = 36.53f;
+        temp_sensitivity = 1.0f/340;
         break;
 
     case Invensense_ICM20608:
     case Invensense_ICM20602:
     case Invensense_ICM20601:
-        temp_zero = 25;
-        temp_sensitivity = 1.0/326.8; 
+        temp_zero = 25.0f;
+        temp_sensitivity = 1.0f/326.8f;
         break;
 
     case Invensense_ICM20789:
-        temp_zero = 25;
-        temp_sensitivity = 0.003;
+        temp_zero = 25.0f;
+        temp_sensitivity = 0.003f;
         break;
     case Invensense_ICM20689:
-        temp_zero = 25;
-        temp_sensitivity = 0.003;
+        temp_zero = 25.0f;
+        temp_sensitivity = 0.003f;
         break;
     }
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
index 0f114e054c..a9578134ba 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
@@ -112,8 +112,8 @@ private:
     uint8_t _gyro_instance;
     uint8_t _accel_instance;
 
-    float temp_sensitivity = 1.0/340; // degC/LSB
-    float temp_zero = 36.53; // degC
+    float temp_sensitivity = 1.0f/340; // degC/LSB
+    float temp_zero = 36.53f; // degC
     
     float _temp_filtered;
     float _accel_scale;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
index aa69bcfd38..a3495097a7 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
@@ -674,7 +674,7 @@ void AP_InertialSensor_LSM9DS0::_set_accel_scale(accel_scale scale)
     _accel_scale = (((float) scale + 1.0f) * 2.0f) / 32768.0f;
     if (scale == A_SCALE_16G) {
         /* the datasheet shows an exception for +-16G */
-        _accel_scale = 0.000732;
+        _accel_scale = 0.000732f;
     }
     /* convert to G/LSB to (m/s/s)/LSB */
     _accel_scale *= GRAVITY_MSS;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp
index f521b67fbf..8cd79d3e18 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp
@@ -403,7 +403,7 @@ void AP_InertialSensor_LSM9DS1::_set_accel_scale(accel_scale scale)
     _accel_scale = (((float) scale + 1.0f) * 2.0f) / 32768.0f;
     if (scale == A_SCALE_16G) {
         /* the datasheet shows an exception for +-16G */
-        _accel_scale = 0.000732;
+        _accel_scale = 0.000732f;
     }
     /* convert to G/LSB to (m/s/s)/LSB */
     _accel_scale *= GRAVITY_MSS;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index f187723d71..e60a5a6062 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -80,7 +80,7 @@ void AP_InertialSensor_SITL::generate_accel(uint8_t instance)
         yAccel += accel_noise * rand_float();
         zAccel += accel_noise * rand_float();
     } else {
-        float t = AP_HAL::micros() * 1.0e-6;
+        float t = AP_HAL::micros() * 1.0e-6f;
         xAccel += sinf(t * 2 * M_PI * vibe_freq.x) * accel_noise;
         yAccel += sinf(t * 2 * M_PI * vibe_freq.y) * accel_noise;
         zAccel += sinf(t * 2 * M_PI * vibe_freq.z) * accel_noise;
@@ -145,7 +145,7 @@ void AP_InertialSensor_SITL::generate_gyro(uint8_t instance)
         q += gyro_noise * rand_float();
         r += gyro_noise * rand_float();
     } else {
-        float t = AP_HAL::micros() * 1.0e-6;
+        float t = AP_HAL::micros() * 1.0e-6f;
         p += sinf(t * 2 * M_PI * vibe_freq.x) * gyro_noise;
         q += sinf(t * 2 * M_PI * vibe_freq.y) * gyro_noise;
         r += sinf(t * 2 * M_PI * vibe_freq.z) * gyro_noise;
@@ -155,9 +155,9 @@ void AP_InertialSensor_SITL::generate_gyro(uint8_t instance)
 
     // add in gyro scaling
     Vector3f scale = sitl->gyro_scale;
-    gyro.x *= (1 + scale.x*0.01);
-    gyro.y *= (1 + scale.y*0.01);
-    gyro.z *= (1 + scale.z*0.01);
+    gyro.x *= (1 + scale.x*0.01f);
+    gyro.y *= (1 + scale.y*0.01f);
+    gyro.z *= (1 + scale.z*0.01f);
 
     _rotate_and_correct_gyro(gyro_instance[instance], gyro);