From 820f0bf02af475cd7f8e7fb3132a003b61344327 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Sat, 2 May 2015 21:44:26 -0700
Subject: [PATCH] AP_Math: compiler warnings: float to double promotion

cast as float because we're in magical template land where T minus T means promote to double
---
 libraries/AP_Math/AP_Math.h   |  1 +
 libraries/AP_Math/vector3.cpp | 52 +++++++++++++++++------------------
 2 files changed, 27 insertions(+), 26 deletions(-)

diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index c225a9aa68..8d215fd935 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -20,6 +20,7 @@
 #include "polygon.h"
 #include "edc.h"
 #include "float.h"
+#include "AP_Param.h"
 
 #ifndef M_PI_F
  #define M_PI_F 3.141592653589793f
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index d1759669f4..7e6421304a 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -19,7 +19,7 @@
 
 #include "AP_Math.h"
 
-#define HALF_SQRT_2 0.70710678118654757
+#define HALF_SQRT_2 0.70710678118654757f
 
 // rotate a vector by a standard rotation, attempting
 // to use the minimum number of floating point operations
@@ -32,8 +32,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
     case ROTATION_MAX:
         return;
     case ROTATION_YAW_45: {
-        tmp = HALF_SQRT_2*(x - y);
-        y   = HALF_SQRT_2*(x + y);
+        tmp = HALF_SQRT_2*(float)(x - y);
+        y   = HALF_SQRT_2*(float)(x + y);
         x = tmp;
         return;
     }
@@ -42,8 +42,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         return;
     }
     case ROTATION_YAW_135: {
-        tmp = -HALF_SQRT_2*(x + y);
-        y   =  HALF_SQRT_2*(x - y);
+        tmp = -HALF_SQRT_2*(float)(x + y);
+        y   =  HALF_SQRT_2*(float)(x - y);
         x = tmp;
         return;
     }
@@ -51,8 +51,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         x = -x; y = -y;
         return;
     case ROTATION_YAW_225: {
-        tmp = HALF_SQRT_2*(y - x);
-        y   = -HALF_SQRT_2*(x + y);
+        tmp = HALF_SQRT_2*(float)(y - x);
+        y   = -HALF_SQRT_2*(float)(x + y);
         x = tmp;
         return;
     }
@@ -61,8 +61,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         return;
     }
     case ROTATION_YAW_315: {
-        tmp = HALF_SQRT_2*(x + y);
-        y   = HALF_SQRT_2*(y - x);
+        tmp = HALF_SQRT_2*(float)(x + y);
+        y   = HALF_SQRT_2*(float)(y - x);
         x = tmp;
         return;
     }
@@ -71,8 +71,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         return;
     }
     case ROTATION_ROLL_180_YAW_45: {
-        tmp = HALF_SQRT_2*(x + y);
-        y   = HALF_SQRT_2*(x - y);
+        tmp = HALF_SQRT_2*(float)(x + y);
+        y   = HALF_SQRT_2*(float)(x - y);
         x = tmp; z = -z;
         return;
     }
@@ -81,8 +81,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         return;
     }
     case ROTATION_ROLL_180_YAW_135: {
-        tmp = HALF_SQRT_2*(y - x);
-        y   = HALF_SQRT_2*(y + x);
+        tmp = HALF_SQRT_2*(float)(y - x);
+        y   = HALF_SQRT_2*(float)(y + x);
         x = tmp; z = -z;
         return;
     }
@@ -91,8 +91,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         return;
     }
     case ROTATION_ROLL_180_YAW_225: {
-        tmp = -HALF_SQRT_2*(x + y);
-        y   =  HALF_SQRT_2*(y - x);
+        tmp = -HALF_SQRT_2*(float)(x + y);
+        y   =  HALF_SQRT_2*(float)(y - x);
         x = tmp; z = -z;
         return;
     }
@@ -101,8 +101,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         return;
     }
     case ROTATION_ROLL_180_YAW_315: {
-        tmp =  HALF_SQRT_2*(x - y);
-        y   = -HALF_SQRT_2*(x + y);
+        tmp =  HALF_SQRT_2*(float)(x - y);
+        y   = -HALF_SQRT_2*(float)(x + y);
         x = tmp; z = -z;
         return;
     }
@@ -112,8 +112,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
     }
     case ROTATION_ROLL_90_YAW_45: {
         tmp = z; z = y; y = -tmp;
-        tmp = HALF_SQRT_2*(x - y);
-        y   = HALF_SQRT_2*(x + y);
+        tmp = HALF_SQRT_2*(float)(x - y);
+        y   = HALF_SQRT_2*(float)(x + y);
         x = tmp;
         return;
     }
@@ -124,8 +124,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
     }
     case ROTATION_ROLL_90_YAW_135: {
         tmp = z; z = y; y = -tmp;
-        tmp = -HALF_SQRT_2*(x + y);
-        y   =  HALF_SQRT_2*(x - y);
+        tmp = -HALF_SQRT_2*(float)(x + y);
+        y   =  HALF_SQRT_2*(float)(x - y);
         x = tmp;
         return;
     }
@@ -135,8 +135,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
     }
     case ROTATION_ROLL_270_YAW_45: {
         tmp = z; z = -y; y = tmp;
-        tmp = HALF_SQRT_2*(x - y);
-        y   = HALF_SQRT_2*(x + y);
+        tmp = HALF_SQRT_2*(float)(x - y);
+        y   = HALF_SQRT_2*(float)(x + y);
         x = tmp;
         return;
     }
@@ -147,8 +147,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
     }
     case ROTATION_ROLL_270_YAW_135: {
         tmp = z; z = -y; y = tmp;
-        tmp = -HALF_SQRT_2*(x + y);
-        y   =  HALF_SQRT_2*(x - y);
+        tmp = -HALF_SQRT_2*(float)(x + y);
+        y   =  HALF_SQRT_2*(float)(x - y);
         x = tmp;
         return;
     }
@@ -339,7 +339,7 @@ bool Vector3<T>::operator !=(const Vector3<T> &v) const
 template <typename T>
 float Vector3<T>::angle(const Vector3<T> &v2) const
 {
-    return acosf(((*this)*v2) / (this->length()*v2.length()));
+    return acosf((*this)*v2) / (float)((this->length()*v2.length()));
 }
 
 // multiplication of transpose by a vector