double promotion warning fix or ignore per module

cmake/common/px4_base.cmake

@@ -335,10 +335,12 @@ function(px4_add_common_flags)
 
 	set(warnings
 		-Wall
+		-Wextra
+		-Werror
+
 		-Warray-bounds
 		-Wdisabled-optimization
-		-Werror
-		-Wextra
+		-Wdouble-promotion
 		-Wfatal-errors
 		-Wfloat-equal
 		-Wformat-security
@@ -346,7 +348,7 @@ function(px4_add_common_flags)
 		-Wlogical-op
 		-Wmissing-declarations
 		-Wmissing-field-initializers
-		#-Wmissing-include-dirs # TODO: fix and enable
+
 		-Wpointer-arith
 		-Wshadow
 		-Wuninitialized
@@ -354,7 +356,7 @@ function(px4_add_common_flags)
 		-Wunused-variable
 
 		-Wno-implicit-fallthrough # set appropriate level and update
-
+		-Wno-missing-include-dirs # TODO: fix and enable
 		-Wno-unused-parameter
 		)
 
@@ -368,14 +370,12 @@ function(px4_add_common_flags)
 				-Wno-address-of-packed-member
 				-Wno-unknown-warning-option
 				-Wunused-but-set-variable
-				#-Wdouble-promotion # needs work first
 			)
 		endif()
 	else()
 		list(APPEND warnings
 			-Wunused-but-set-variable
 			-Wformat=1
-			-Wdouble-promotion
 		)
 	endif()
 

src/drivers/camera_trigger/camera_trigger.cpp

@@ -485,8 +485,8 @@ CameraTrigger::test()
 {
 	struct vehicle_command_s cmd = {
 		.timestamp = hrt_absolute_time(),
-		.param5 = 1.0f,
-		.param6 = 0.0f,
+		.param5 = 1.0,
+		.param6 = 0.0,
 		.param1 = 0.0f,
 		.param2 = 0.0f,
 		.param3 = 0.0f,

src/drivers/differential_pressure/ms5525/MS5525.hpp

@@ -53,7 +53,7 @@ static constexpr const char PATH_MS5525[] = "/dev/ms5525";
 /* Measurement rate is 100Hz */
 static constexpr unsigned MEAS_RATE = 100;
 static constexpr float MEAS_DRIVER_FILTER_FREQ = 1.2f;
-static constexpr uint64_t CONVERSION_INTERVAL = (1000000 / MEAS_RATE); /* microseconds */
+static constexpr int64_t CONVERSION_INTERVAL = (1000000 / MEAS_RATE); /* microseconds */
 
 class MS5525 : public Airspeed
 {

src/drivers/distance_sensor/teraranger/teraranger.cpp

@@ -467,7 +467,7 @@ TERARANGER::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 					bool want_start = (_measure_ticks == 0);
 
 					/* convert hz to tick interval via microseconds */
-					unsigned ticks = USEC2TICK(1000000 / arg);
+					int ticks = USEC2TICK(1000000 / arg);
 
 					/* check against maximum rate */
 					if (ticks < USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) {

src/drivers/vmount/output_mavlink.cpp

@@ -63,8 +63,8 @@ int OutputMavlink::update(const ControlData *control_data)
 {
 	vehicle_command_s vehicle_command = {
 		.timestamp = 0,
-		.param5 = 0.0f,
-		.param6 = 0.0f,
+		.param5 = 0.0,
+		.param6 = 0.0,
 		.param1 = 0.0f,
 		.param2 = 0.0f,
 		.param3 = 0.0f,

src/lib/controllib/BlockStats.hpp

@@ -89,7 +89,7 @@ public:
 	}
 	matrix::Vector<Type, M> getStdDev()
 	{
-		return getVar().pow(0.5);
+		return getVar().pow(0.5f);
 	}
 private:
 // attributes

src/lib/controllib/controllib_test/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE lib__controllib__controllib_test
 	MAIN controllib_test
 	COMPILE_FLAGS
+		-Wno-double-promotion # TODO: fix in Matrix library Vector::pow()
 	SRCS
 		controllib_test_main.cpp
 	DEPENDS

src/lib/drivers/airspeed/airspeed.h

@@ -75,7 +75,7 @@ protected:
 
 	work_s			_work;
 	bool			_sensor_ok;
-	uint32_t		_measure_ticks;
+	int				_measure_ticks;
 	bool			_collect_phase;
 	float			_diff_pres_offset;
 

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 1cba257bac94ffe7c9b48fb9ff9de73c582d68d8
+Subproject commit b26c2d62b80d6bee148fbfe01eb36809bfa721ea

src/lib/mathlib/math/test/test.cpp

@@ -41,6 +41,8 @@
 #include <math.h>
 #include <stdlib.h>
 
+#include <px4_defines.h>
+
 #include "test.hpp"
 
 bool __EXPORT equal(float a, float b, float epsilon)
@@ -106,7 +108,7 @@ void __EXPORT float2SigExp(
 // FIXME - This code makes no sense when exp is an int
 // FIXME - isnan and isinf not defined for QuRT
 #ifndef __PX4_QURT
-	if (isnan(num) || isinf(num)) {
+	if (!PX4_ISFINITE(num)) {
 		sig = 0.0f;
 		exp = -99;
 		return;

src/lib/parameters/param.c

@@ -1089,7 +1089,7 @@ param_export(int fd, bool only_unsaved)
 			break;
 
 		case PARAM_TYPE_FLOAT: {
-				const float f = s->val.f;
+				const double f = (double)s->val.f;
 
 				debug("exporting: %s (%d) size: %d val: %.3f", name, s->param, size, (double)f);
 

src/lib/pid/CMakeLists.txt

@@ -31,4 +31,4 @@
 #
 ############################################################################
 
-px4_add_library(pid pid.c)
+px4_add_library(pid pid.cpp)

src/lib/pid/pid.cpp

@@ -50,6 +50,7 @@
 
 #include "pid.h"
 #include <math.h>
+#include <px4_defines.h>
 
 #define SIGMA 0.000001f
 
@@ -71,35 +72,35 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 {
 	int ret = 0;
 
-	if (isfinite(kp)) {
+	if (PX4_ISFINITE(kp)) {
 		pid->kp = kp;
 
 	} else {
 		ret = 1;
 	}
 
-	if (isfinite(ki)) {
+	if (PX4_ISFINITE(ki)) {
 		pid->ki = ki;
 
 	} else {
 		ret = 1;
 	}
 
-	if (isfinite(kd)) {
+	if (PX4_ISFINITE(kd)) {
 		pid->kd = kd;
 
 	} else {
 		ret = 1;
 	}
 
-	if (isfinite(integral_limit)) {
+	if (PX4_ISFINITE(integral_limit)) {
 		pid->integral_limit = integral_limit;
 
 	}  else {
 		ret = 1;
 	}
 
-	if (isfinite(output_limit)) {
+	if (PX4_ISFINITE(output_limit)) {
 		pid->output_limit = output_limit;
 
 	}  else {
@@ -111,7 +112,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 
 __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
 {
-	if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
+	if (!PX4_ISFINITE(sp) || !PX4_ISFINITE(val) || !PX4_ISFINITE(val_dot) || !PX4_ISFINITE(dt)) {
 		return pid->last_output;
 	}
 
@@ -136,7 +137,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 		d = 0.0f;
 	}
 
-	if (!isfinite(d)) {
+	if (!PX4_ISFINITE(d)) {
 		d = 0.0f;
 	}
 
@@ -148,7 +149,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 		i = pid->integral + (error * dt);
 
 		/* check for saturation */
-		if (isfinite(i)) {
+		if (PX4_ISFINITE(i)) {
 			if ((pid->output_limit < SIGMA || (fabsf(output + (i * pid->ki)) <= pid->output_limit)) &&
 			    fabsf(i) <= pid->integral_limit) {
 				/* not saturated, use new integral value */
@@ -161,7 +162,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 	}
 
 	/* limit output */
-	if (isfinite(output)) {
+	if (PX4_ISFINITE(output)) {
 		if (pid->output_limit > SIGMA) {
 			if (output > pid->output_limit) {
 				output = pid->output_limit;

src/lib/pwm_limit/CMakeLists.txt

@@ -31,4 +31,4 @@
 #
 ############################################################################
 
-px4_add_library(pwm_limit pwm_limit.c)
+px4_add_library(pwm_limit pwm_limit.cpp)

src/lib/pwm_limit/pwm_limit.cpp

@@ -42,6 +42,7 @@
 
 #include "pwm_limit.h"
 
+#include <px4_defines.h>
 #include <math.h>
 #include <stdbool.h>
 #include <drivers/drv_hrt.h>
@@ -148,7 +149,7 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
 				float control_value = output[i];
 
 				/* check for invalid / disabled channels */
-				if (!isfinite(control_value)) {
+				if (!PX4_ISFINITE(control_value)) {
 					effective_pwm[i] = disarmed_pwm[i];
 					continue;
 				}
@@ -198,7 +199,7 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
 			float control_value = output[i];
 
 			/* check for invalid / disabled channels */
-			if (!isfinite(control_value)) {
+			if (!PX4_ISFINITE(control_value)) {
 				effective_pwm[i] = disarmed_pwm[i];
 				continue;
 			}

src/modules/commander/commander.cpp

@@ -386,8 +386,8 @@ int commander_main(int argc, char *argv[])
 
 				struct vehicle_command_s cmd = {
 					.timestamp = hrt_absolute_time(),
-					.param5 = NAN,
-					.param6 = NAN,
+					.param5 = (double)NAN,
+					.param6 = (double)NAN,
 					/* minimum pitch */
 					.param1 = NAN,
 					.param2 = NAN,
@@ -417,8 +417,8 @@ int commander_main(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = NAN,
-			.param6 = NAN,
+			.param5 = (double)NAN,
+			.param6 = (double)NAN,
 			/* minimum pitch */
 			.param1 = NAN,
 			.param2 = NAN,
@@ -440,8 +440,8 @@ int commander_main(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = NAN,
-			.param6 = NAN,
+			.param5 = (double)NAN,
+			.param6 = (double)NAN,
 			/* transition to the other mode */
 			.param1 = (float)((status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
 			.param2 = NAN,
@@ -511,8 +511,8 @@ int commander_main(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = 0.0f,
-			.param6 = 0.0f,
+			.param5 = 0.0,
+			.param6 = 0.0,
 			/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
 			.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f, /* lockdown */
 			.param2 = 0.0f,

src/modules/dataman/dataman.cpp

@@ -1031,7 +1031,7 @@ _ram_flash_flush()
 		return;
 	}
 
-	const size_t len = (dm_operations_data.ram_flash.data_end - dm_operations_data.ram_flash.data) + 1;
+	const ssize_t len = (dm_operations_data.ram_flash.data_end - dm_operations_data.ram_flash.data) + 1;
 	ret = up_progmem_write(k_dataman_flash_sector->address, dm_operations_data.ram_flash.data, len);
 
 	if (ret < len) {

src/modules/events/send_event.cpp

@@ -263,8 +263,8 @@ int SendEvent::custom_command(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = (float)((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
-			.param6 = NAN,
+			.param5 = ((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : (double)NAN),
+			.param6 = (double)NAN,
 			.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
 			.param2 = NAN,
 			.param3 = NAN,

src/modules/events/temperature_calibration/accel.cpp

@@ -158,7 +158,7 @@ int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int
 	}
 
 	//update linear fit matrices
-	double relative_temperature = data.sensor_sample_filt[3] - data.ref_temp;
+	double relative_temperature = (double)data.sensor_sample_filt[3] - (double)data.ref_temp;
 	data.P[0].update(relative_temperature, (double)data.sensor_sample_filt[0]);
 	data.P[1].update(relative_temperature, (double)data.sensor_sample_filt[1]);
 	data.P[2].update(relative_temperature, (double)data.sensor_sample_filt[2]);

src/modules/events/temperature_calibration/baro.cpp

@@ -145,7 +145,7 @@ int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int
 	}
 
 	//update linear fit matrices
-	double relative_temperature = data.sensor_sample_filt[1] - data.ref_temp;
+	double relative_temperature = (double)data.sensor_sample_filt[1] - (double)data.ref_temp;
 	data.P[0].update(relative_temperature, (double)data.sensor_sample_filt[0]);
 
 	return 1;

src/modules/events/temperature_calibration/gyro.cpp

@@ -145,7 +145,7 @@ int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int
 	}
 
 	//update linear fit matrices
-	double relative_temperature = data.sensor_sample_filt[3] - data.ref_temp;
+	double relative_temperature = (double)data.sensor_sample_filt[3] - (double)data.ref_temp;
 	data.P[0].update(relative_temperature, (double)data.sensor_sample_filt[0]);
 	data.P[1].update(relative_temperature, (double)data.sensor_sample_filt[1]);
 	data.P[2].update(relative_temperature, (double)data.sensor_sample_filt[2]);

src/modules/events/temperature_calibration/polyfit.hpp

@@ -172,7 +172,7 @@ private:
 
 	void update_VTV(double x)
 	{
-		double temp = 1.0f;
+		double temp = 1.0;
 		int8_t z;
 
 		for (unsigned i = 0; i < _forder; i++) {

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -510,7 +510,7 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const Vector2f &curr_pos
 			delta_altitude = pos_sp_curr.alt - pos_sp_prev.alt;
 
 		} else {
-			distance = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), pos_sp_curr.lat, pos_sp_curr.lon);
+			distance = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1), pos_sp_curr.lat, pos_sp_curr.lon);
 			delta_altitude = pos_sp_curr.alt - _global_pos.alt;
 		}
 
@@ -1314,17 +1314,20 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
 		_fw_pos_ctrl_status.abort_landing = false;
 	}
 
-	const float bearing_airplane_currwp = get_bearing_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
+	const float bearing_airplane_currwp = get_bearing_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
+					      (double)curr_wp(0), (double)curr_wp(1));
 
 	float bearing_lastwp_currwp = bearing_airplane_currwp;
 
 	if (pos_sp_prev.valid) {
-		bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
+		bearing_lastwp_currwp = get_bearing_to_next_waypoint((double)prev_wp(0), (double)prev_wp(1), (double)curr_wp(0),
+					(double)curr_wp(1));
 	}
 
 	/* Horizontal landing control */
 	/* switch to heading hold for the last meters, continue heading hold after */
-	float wp_distance = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
+	float wp_distance = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1), (double)curr_wp(0),
+			    (double)curr_wp(1));
 
 	/* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */
 	float wp_distance_save = wp_distance;
@@ -1755,7 +1758,8 @@ FixedwingPositionControl::run()
 
 					Vector2f curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
 
-					_fw_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
+					_fw_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
+								      (double)curr_wp(0), (double)curr_wp(1));
 
 					fw_pos_ctrl_status_publish();
 				}

src/modules/gnd_pos_control/GroundRoverPositionControl.cpp

@@ -461,8 +461,8 @@ GroundRoverPositionControl::task_main()
 					_gnd_pos_ctrl_status.xtrack_error = _gnd_control.crosstrack_error();
 
 					matrix::Vector2f curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
-					_gnd_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0),
-								       curr_wp(1));
+					_gnd_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint((double)current_position(0), (double)current_position(1),
+								       (double)curr_wp(0), (double)curr_wp(1));
 
 					gnd_pos_ctrl_status_publish();
 				}

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -336,8 +336,8 @@ void BlockLocalPositionEstimator::update()
 	// if we have no lat, lon initialize projection to LPE_LAT, LPE_LON parameters
 	if (!_map_ref.init_done && (_estimatorInitialized & EST_XY) && _fake_origin.get()) {
 		map_projection_init(&_map_ref,
-				    _init_origin_lat.get(),
-				    _init_origin_lon.get());
+				    (double)_init_origin_lat.get(),
+				    (double)_init_origin_lon.get());
 
 		// set timestamp when origin was set to current time
 		_time_origin = _timeStamp;

src/modules/local_position_estimator/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MAIN local_position_estimator
 	COMPILE_FLAGS
 		-Wno-sign-compare # TODO: fix all sign-compare
+		-Wno-double-promotion # TODO: fix in Matrix library Vector::pow()
 	STACK_MAIN 5700
 	STACK_MAX 13000
 	SRCS

src/modules/local_position_estimator/sensors/gps.cpp

@@ -95,9 +95,9 @@ int BlockLocalPositionEstimator::gpsMeasure(Vector<double, n_y_gps> &y)
 	y(0) = _sub_gps.get().lat * 1e-7;
 	y(1) = _sub_gps.get().lon * 1e-7;
 	y(2) = _sub_gps.get().alt * 1e-3;
-	y(3) = _sub_gps.get().vel_n_m_s;
-	y(4) = _sub_gps.get().vel_e_m_s;
-	y(5) = _sub_gps.get().vel_d_m_s;
+	y(3) = (double)_sub_gps.get().vel_n_m_s;
+	y(4) = (double)_sub_gps.get().vel_e_m_s;
+	y(5) = (double)_sub_gps.get().vel_d_m_s;
 
 	// increament sums for mean
 	_gpsStats.update(y);

src/modules/mavlink/mavlink_messages.cpp

@@ -1561,8 +1561,8 @@ protected:
 
 				struct vehicle_command_s cmd = {
 					.timestamp = 0,
-					.param5 = NAN,
-					.param6 = NAN,
+					.param5 = (double)NAN,
+					.param6 = (double)NAN,
 					.param1 = 0.0f, // all cameras
 					.param2 = 0.0f, // duration 0 because only taking one picture
 					.param3 = 1.0f, // only take one

src/modules/mavlink/mavlink_receiver.cpp

@@ -487,8 +487,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 
 	struct vehicle_command_s vcmd = {
 		.timestamp = hrt_absolute_time(),
-		.param5 = cmd_mavlink.param5,
-		.param6 = cmd_mavlink.param6,
+		.param5 = (double)cmd_mavlink.param5,
+		.param6 = (double)cmd_mavlink.param6,
 		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
 		.param1 = cmd_mavlink.param1,
 		.param2 = cmd_mavlink.param2,

src/modules/mavlink/mavlink_timesync.cpp

@@ -107,10 +107,10 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 						// Filter gain scheduling
 						if (!sync_converged()) {
 							// Interpolate with a sigmoid function
-							float progress = ((float)_sequence) / CONVERGENCE_WINDOW;
-							float p = 1.0f - expf(0.5f * (1.0f - 1.0f / (1.0f - progress)));
-							_filter_alpha = p * (float)ALPHA_GAIN_FINAL + (1.0f - p) * (float)ALPHA_GAIN_INITIAL;
-							_filter_beta = p * (float)BETA_GAIN_FINAL + (1.0f - p) * (float)BETA_GAIN_INITIAL;
+							double progress = _sequence / CONVERGENCE_WINDOW;
+							double p = 1.0 - exp(0.5 * (1.0 - 1.0 / (1.0 - progress)));
+							_filter_alpha = p * ALPHA_GAIN_FINAL + (1.0 - p) * ALPHA_GAIN_INITIAL;
+							_filter_beta = p * BETA_GAIN_FINAL + (1.0 - p) * BETA_GAIN_INITIAL;
 
 						} else {
 							_filter_alpha = ALPHA_GAIN_FINAL;

src/modules/navigator/geofence.cpp

@@ -229,7 +229,7 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
 
 		const double home_lat = _navigator->get_home_position()->lat;
 		const double home_lon = _navigator->get_home_position()->lon;
-		const double home_alt = _navigator->get_home_position()->alt;
+		const float home_alt = _navigator->get_home_position()->alt;
 
 		float dist_xy = -1.0f;
 		float dist_z = -1.0f;

src/modules/navigator/mission_block.cpp

@@ -452,8 +452,8 @@ MissionBlock::issue_command(const mission_item_s &item)
 		vcmd.param2 = item.params[1];
 		vcmd.param3 = item.params[2];
 		vcmd.param4 = item.params[3];
-		vcmd.param5 = item.params[4];
-		vcmd.param6 = item.params[5];
+		vcmd.param5 = (double)item.params[4];
+		vcmd.param6 = (double)item.params[5];
 
 		if (item.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION && item.altitude_is_relative) {
 			vcmd.param7 = item.params[6] + _navigator->get_home_position()->alt;
@@ -644,8 +644,8 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
 
 	/* use current position */
 	if (at_current_location) {
-		item->lat = NAN; //descend at current position
-		item->lon = NAN; //descend at current position
+		item->lat = (double)NAN; //descend at current position
+		item->lon = (double)NAN; //descend at current position
 		item->yaw = _navigator->get_local_position()->yaw;
 
 	} else {

src/modules/navigator/mission_feasibility_checker.cpp

@@ -522,8 +522,8 @@ MissionFeasibilityChecker::checkDistancesBetweenWaypoints(const mission_s &missi
 		return true;
 	}
 
-	double last_lat = NAN;
-	double last_lon = NAN;
+	double last_lat = (double)NAN;
+	double last_lon = (double)NAN;
 
 	/* Go through all waypoints */
 	for (size_t i = 0; i < mission.count; i++) {

src/modules/navigator/navigator_main.cpp

@@ -407,8 +407,8 @@ Navigator::run()
 
 				} else {
 					// If one of them is non-finite, reset both
-					rep->current.lat = NAN;
-					rep->current.lon = NAN;
+					rep->current.lat = (double)NAN;
+					rep->current.lon = (double)NAN;
 				}
 
 				rep->current.alt = cmd.param7;

src/modules/simulator/CMakeLists.txt

@@ -59,6 +59,7 @@ px4_add_module(
 	MODULE modules__simulator
 	MAIN simulator
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	INCLUDES
 		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	SRCS

src/modules/simulator/accelsim/CMakeLists.txt

@@ -34,6 +34,8 @@
 px4_add_module(
 	MODULE drivers__accelsim
 	MAIN accelsim
+	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		accelsim.cpp
 	DEPENDS

src/modules/simulator/airspeedsim/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__airspeedsim
 	MAIN measairspeedsim
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		airspeedsim.cpp
 		meas_airspeed_sim.cpp

src/modules/simulator/barosim/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__barosim
 	MAIN barosim
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		baro.cpp
 	DEPENDS

src/modules/simulator/gpssim/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__gpssim
 	MAIN gpssim
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		gpssim.cpp
 	DEPENDS

src/modules/simulator/gyrosim/CMakeLists.txt

@@ -34,6 +34,8 @@
 px4_add_module(
 	MODULE drivers__gyrosim
 	MAIN gyrosim
+	COMPILE_FLAGS
+		-Wno-double-promotion
 	STACK_MAIN 1200
 	SRCS
 		gyrosim.cpp

src/modules/systemlib/print_load_posix.c

@@ -138,7 +138,7 @@ void print_load(uint64_t t, int fd, struct print_load_s *print_state)
 		clear_line,
 		th_cnt);
 
-	for (int j = 0; j < th_cnt; j++) {
+	for (unsigned j = 0; j < th_cnt; j++) {
 		thread_info_count = THREAD_INFO_MAX;
 		kr = thread_info(thread_list[j], THREAD_BASIC_INFO,
 				 (thread_info_t)th_info_data, &thread_info_count);