Plane: Fix compile warnings

- const values declared as default double
- This is the first pass in fixing the warnings, trying to catch some low hanging fruit. All const double values are changed to float. For example: 1.0 is now 1.0f.
- Only except is in location.pde where some double stuff is happening
- I did not change the exponentials 1e7 type stuff which should be 1e7f. A different commit

ArduPlane/ArduPlane.pde

@@ -396,7 +396,7 @@ static struct {
 // This is used to scale GPS values for EEPROM storage
 // 10^7 times Decimal GPS means 1 == 1cm
 // This approximation makes calculations integer and it's easy to read
-static const float t7                        = 10000000.0;
+static const float t7                        = 10000000.0f;
 // We use atan2 and other trig techniques to calaculate angles
 // A counter used to count down valid gps fixes to allow the gps estimate to settle
 // before recording our home position (and executing a ground start if we booted with an air start)

ArduPlane/Attitude.pde

@@ -22,7 +22,7 @@ static float get_speed_scaler(void)
         } else {
             speed_scaler = 2.0;
         }
-        speed_scaler = constrain_float(speed_scaler, 0.5, 2.0);
+        speed_scaler = constrain_float(speed_scaler, 0.5f, 2.0f);
     } else {
         if (channel_throttle->servo_out > 0) {
             speed_scaler = 0.5f + ((float)THROTTLE_CRUISE / channel_throttle->servo_out / 2.0f);                 // First order taylor expansion of square root
@@ -31,7 +31,7 @@ static float get_speed_scaler(void)
             speed_scaler = 1.67f;
         }
         // This case is constrained tighter as we don't have real speed info
-        speed_scaler = constrain_float(speed_scaler, 0.6, 1.67);
+        speed_scaler = constrain_float(speed_scaler, 0.6f, 1.67f);
     }
     return speed_scaler;
 }
@@ -588,7 +588,7 @@ static bool suppress_throttle(void)
         // we're more than 10m from the home altitude
         throttle_suppressed = false;
         gcs_send_text_fmt(PSTR("Throttle unsuppressed - altitude %.2f"), 
-                          relative_altitude_abs_cm()*0.01f);
+                          (float)(relative_altitude_abs_cm()*0.01f));
         return false;
     }
 

ArduPlane/GCS_Mavlink.pde

@@ -109,7 +109,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
         chan,
         millis(),
         ahrs.roll,
-        ahrs.pitch - radians(g.pitch_trim_cd*0.01),
+        ahrs.pitch - radians(g.pitch_trim_cd*0.01f),
         ahrs.yaw,
         omega.x,
         omega.y,
@@ -341,12 +341,12 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 {
     mavlink_msg_nav_controller_output_send(
         chan,
-        nav_roll_cd * 0.01,
+        nav_roll_cd * 0.01f,
-        nav_pitch_cd * 0.01,
+        nav_pitch_cd * 0.01f,
         nav_controller->nav_bearing_cd() * 0.01f,
         nav_controller->target_bearing_cd() * 0.01f,
         auto_state.wp_distance,
-        altitude_error_cm * 0.01,
+        altitude_error_cm * 0.01f,
         airspeed_error_cm,
         nav_controller->crosstrack_error());
 }
@@ -417,7 +417,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
         gps.ground_speed(),
         (ahrs.yaw_sensor / 100) % 360,
         throttle_percentage(),
-        current_loc.alt / 100.0,
+        current_loc.alt / 100.0f,
         barometer.get_climb_rate());
 }
 

ArduPlane/Log.pde

@@ -500,7 +500,6 @@ static void Log_Write_Performance() {}
 static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
 static void Log_Write_Attitude() {}
 static void Log_Write_Control_Tuning() {}
-static void Log_Write_Mode(uint8_t mode) {}
 static void Log_Write_GPS(uint8_t instance) {}
 static void Log_Write_IMU() {}
 static void Log_Write_RC() {}

ArduPlane/altitude.pde

@@ -442,7 +442,7 @@ static float height_above_target(void)
 {
     float target_alt = next_WP_loc.alt*0.01;
     if (!next_WP_loc.flags.relative_alt) {
-        target_alt -= ahrs.get_home().alt*0.01;
+        target_alt -= ahrs.get_home().alt*0.01f;
     }
 
 #if AP_TERRAIN_AVAILABLE

ArduPlane/commands_logic.pde

@@ -386,7 +386,7 @@ static bool verify_takeoff()
             // course. This keeps wings level until we are ready to
             // rotate, and also allows us to cope with arbitary
             // compass errors for auto takeoff
-            float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01)) - steer_state.locked_course_err;
+            float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01f)) - steer_state.locked_course_err;
             takeoff_course = wrap_PI(takeoff_course);
             steer_state.hold_course_cd = wrap_360_cd(degrees(takeoff_course)*100);
             gcs_send_text_fmt(PSTR("Holding course %ld at %.1fm/s (%.1f)"), 
@@ -531,10 +531,10 @@ static bool verify_continue_and_change_alt()
     }
    
     // Is the next_WP less than 200 m away?
-    if (get_distance(current_loc, next_WP_loc) < 200.f) {
+    if (get_distance(current_loc, next_WP_loc) < 200.0f) {
         //push another 300 m down the line
         int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
-        location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.f);
+        location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f);
     }
 
     //keep flying the same course

ArduPlane/config.h

@@ -323,7 +323,7 @@
 #define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
 
 #ifndef RUDDER_MIX
- # define RUDDER_MIX           0.5
+ # define RUDDER_MIX           0.5f
 #endif
 
 

ArduPlane/geofence.pde

@@ -237,7 +237,7 @@ static bool geofence_check_minalt(void)
     if (g.fence_minalt == 0) {
         return false;
     }
-    return (adjusted_altitude_cm() < (g.fence_minalt*100.0) + home.alt);
+    return (adjusted_altitude_cm() < (g.fence_minalt*100.0f) + home.alt);
 }
 
 /*
@@ -251,7 +251,7 @@ static bool geofence_check_maxalt(void)
     if (g.fence_maxalt == 0) {
         return false;
     }
-    return (adjusted_altitude_cm() > (g.fence_maxalt*100.0) + home.alt);
+    return (adjusted_altitude_cm() > (g.fence_maxalt*100.0f) + home.alt);
 }
 
 
@@ -361,14 +361,14 @@ static void geofence_check(bool altitude_check_only)
         } else { //return to fence return point, not a rally point
             if (g.fence_retalt > 0) {
                 //fly to the return point using fence_retalt
-                guided_WP_loc.alt = home.alt + 100.0*g.fence_retalt;
+                guided_WP_loc.alt = home.alt + 100.0f*g.fence_retalt;
             } else if (g.fence_minalt >= g.fence_maxalt) {
                 // invalid min/max, use RTL_altitude
                 guided_WP_loc.alt = home.alt + g.RTL_altitude_cm;
             } else {
                 // fly to the return point, with an altitude half way between
                 // min and max
-                guided_WP_loc.alt = home.alt + 100.0*(g.fence_minalt + g.fence_maxalt)/2;
+                guided_WP_loc.alt = home.alt + 100.0f*(g.fence_minalt + g.fence_maxalt)/2;
             }
             guided_WP_loc.options = 0;
             guided_WP_loc.lat = geofence_state->boundary[0].x;

ArduPlane/takeoff.pde

@@ -37,7 +37,7 @@ static bool auto_takeoff_check(void)
 
     // Check for launch acceleration or timer started. NOTE: relies on TECS 50Hz processing
     if (!launchTimerStarted &&
-        g.takeoff_throttle_min_accel != 0.0 &&
+        g.takeoff_throttle_min_accel != 0.0f &&
         SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
         goto no_launch;
     }
@@ -65,7 +65,7 @@ static bool auto_takeoff_check(void)
     }
 
     // Check ground speed and time delay
-    if (((gps.ground_speed() > g.takeoff_throttle_min_speed || g.takeoff_throttle_min_speed == 0.0)) && 
+    if (((gps.ground_speed() > g.takeoff_throttle_min_speed || g.takeoff_throttle_min_speed == 0.0f)) &&
         ((now - last_tkoff_arm_time) >= wait_time_ms)) {
         gcs_send_text_fmt(PSTR("Triggered AUTO, GPSspd = %.1f"), gps.ground_speed());
         launchTimerStarted = false;