diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 9a01ded068..69c00a3bf2 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -124,7 +124,7 @@ void AC_Circle::update()
             _angular_vel = min(_angular_vel, _angular_vel_max);
         }
         if (_angular_vel > _angular_vel_max) {
-            _angular_vel -= fabs(_angular_accel) * dt;
+            _angular_vel -= fabsf(_angular_accel) * dt;
             _angular_vel = max(_angular_vel, _angular_vel_max);
         }
 
@@ -210,7 +210,7 @@ void AC_Circle::calc_velocities(bool init_velocity)
     // if we are doing a panorama set the circle_angle to the current heading
     if (_radius <= 0) {
         _angular_vel_max = ToRad(_rate);
-        _angular_accel = max(fabs(_angular_vel_max),ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN));  // reach maximum yaw velocity in 1 second
+        _angular_accel = max(fabsf(_angular_vel_max),ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN));  // reach maximum yaw velocity in 1 second
     }else{
         // calculate max velocity based on waypoint speed ensuring we do not use more than half our max acceleration for accelerating towards the center of the circle
         float velocity_max = min(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius));