From 339022449109a62e49dc24cf6d35038018edf054 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 8 Jul 2014 20:26:07 +1000
Subject: [PATCH] Plane: avoid some float conversion warnings

---
 ArduPlane/Attitude.pde    | 10 +++++-----
 ArduPlane/GCS_Mavlink.pde | 20 ++++++++++----------
 ArduPlane/Log.pde         |  4 ++--
 3 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 6303d2c47a..87b40ddae6 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -126,8 +126,8 @@ static void stick_mix_channel(RC_Channel *channel, int16_t &servo_out)
         
     ch_inf = (float)channel->radio_in - (float)channel->radio_trim;
     ch_inf = fabsf(ch_inf);
-    ch_inf = min(ch_inf, 400.0);
-    ch_inf = ((400.0 - ch_inf) / 400.0);
+    ch_inf = min(ch_inf, 400.0f);
+    ch_inf = ((400.0f - ch_inf) / 400.0f);
     servo_out *= ch_inf;
     servo_out += channel->pwm_to_angle();
 }
@@ -356,7 +356,7 @@ static void stabilize()
      */
     if (channel_throttle->control_in == 0 &&
         relative_altitude_abs_cm() < 500 && 
-        fabs(barometer.get_climb_rate()) < 0.5f &&
+        fabsf(barometer.get_climb_rate()) < 0.5f &&
         gps.ground_speed() < 3) {
         // we are low, with no climb rate, and zero throttle, and very
         // low ground speed. Zero the attitude controller
@@ -747,8 +747,8 @@ static void set_servos(void)
 			}
 
             // directly set the radio_out values for elevon mode
-            channel_roll->radio_out  =     elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
-            channel_pitch->radio_out =     elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
+            channel_roll->radio_out  =     elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0f/ SERVO_MAX));
+            channel_pitch->radio_out =     elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0f/ SERVO_MAX));
         }
 
         // push out the PWM values
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index aacc69ae49..2ab7f0dbf1 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -277,7 +277,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
         current_loc.lat,                // in 1E7 degrees
         current_loc.lng,                // in 1E7 degrees
         gps.location().alt * 10UL,      // millimeters above sea level
-        relative_altitude() * 1.0e3,    // millimeters above ground
+        relative_altitude() * 1.0e3f,    // millimeters above ground
         vel.x * 100,  // X speed cm/s (+ve North)
         vel.y * 100,  // Y speed cm/s (+ve East)
         vel.z * -100, // Z speed cm/s (+ve up)
@@ -384,12 +384,12 @@ static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
     mavlink_msg_raw_imu_send(
         chan,
         micros(),
-        accel.x * 1000.0 / GRAVITY_MSS,
-        accel.y * 1000.0 / GRAVITY_MSS,
-        accel.z * 1000.0 / GRAVITY_MSS,
-        gyro.x * 1000.0,
-        gyro.y * 1000.0,
-        gyro.z * 1000.0,
+        accel.x * 1000.0f / GRAVITY_MSS,
+        accel.y * 1000.0f / GRAVITY_MSS,
+        accel.z * 1000.0f / GRAVITY_MSS,
+        gyro.x * 1000.0f,
+        gyro.y * 1000.0f,
+        gyro.z * 1000.0f,
         mag.x,
         mag.y,
         mag.z);
@@ -826,7 +826,7 @@ 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) {
@@ -1299,8 +1299,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
         } else {
             Vector2l point;
-            point.x = packet.lat*1.0e7;
-            point.y = packet.lng*1.0e7;
+            point.x = packet.lat*1.0e7f;
+            point.y = packet.lng*1.0e7f;
             set_fence_point_with_index(point, packet.idx);
         }
         break;
diff --git a/ArduPlane/Log.pde b/ArduPlane/Log.pde
index a1ec1b356c..1b9ecb39e5 100644
--- a/ArduPlane/Log.pde
+++ b/ArduPlane/Log.pde
@@ -393,8 +393,8 @@ static void Log_Write_Current()
         LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
         time_ms                 : hal.scheduler->millis(),
         throttle_in             : channel_throttle->control_in,
-        battery_voltage         : (int16_t)(battery.voltage() * 100.0),
-        current_amps            : (int16_t)(battery.current_amps() * 100.0),
+        battery_voltage         : (int16_t)(battery.voltage() * 100.0f),
+        current_amps            : (int16_t)(battery.current_amps() * 100.0f),
         board_voltage           : (uint16_t)(hal.analogin->board_voltage()*1000),
         current_total           : battery.current_total_mah()
     };