From b360521d0ba3c4d25628e5705e1a5a7778e0543f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 16 Oct 2021 17:10:20 +1100
Subject: [PATCH] SITL: permit double-precision maths in SITL even on embedded
 hardware

---
 libraries/SITL/SIM_Aircraft.cpp   | 3 ++-
 libraries/SITL/SIM_BalanceBot.cpp | 2 ++
 libraries/SITL/SIM_Blimp.cpp      | 2 ++
 libraries/SITL/SIM_GPS.cpp        | 2 ++
 libraries/SITL/SIM_MS5611.cpp     | 2 ++
 libraries/SITL/SIM_Plane.cpp      | 2 ++
 libraries/SITL/SIM_Submarine.h    | 6 +++---
 libraries/SITL/SITL.cpp           | 2 ++
 8 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index bcc95e8587..00f355a336 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -16,13 +16,14 @@
   parent class for aircraft simulators
 */
 
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
 #include "SIM_Aircraft.h"
 
 #include <stdio.h>
 #include <sys/time.h>
 #include <unistd.h>
 
-
 #if defined(__CYGWIN__) || defined(__CYGWIN64__)
 #include <windows.h>
 #include <time.h>
diff --git a/libraries/SITL/SIM_BalanceBot.cpp b/libraries/SITL/SIM_BalanceBot.cpp
index 384be77f67..f3b11d0c90 100644
--- a/libraries/SITL/SIM_BalanceBot.cpp
+++ b/libraries/SITL/SIM_BalanceBot.cpp
@@ -16,6 +16,8 @@
   Balance Bot simulator class
 */
 
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
 #include "SIM_BalanceBot.h"
 #include <stdio.h>
 
diff --git a/libraries/SITL/SIM_Blimp.cpp b/libraries/SITL/SIM_Blimp.cpp
index ea129152b9..73e41d0eae 100644
--- a/libraries/SITL/SIM_Blimp.cpp
+++ b/libraries/SITL/SIM_Blimp.cpp
@@ -16,6 +16,8 @@
   Blimp simulator class
 */
 
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
 #include "SIM_Blimp.h"
 
 #include <stdio.h>
diff --git a/libraries/SITL/SIM_GPS.cpp b/libraries/SITL/SIM_GPS.cpp
index 9790ef49ec..5e45104178 100644
--- a/libraries/SITL/SIM_GPS.cpp
+++ b/libraries/SITL/SIM_GPS.cpp
@@ -12,6 +12,8 @@
 
 #include <time.h>
 
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SITL/SITL.h>
diff --git a/libraries/SITL/SIM_MS5611.cpp b/libraries/SITL/SIM_MS5611.cpp
index a1957df17d..d269272598 100644
--- a/libraries/SITL/SIM_MS5611.cpp
+++ b/libraries/SITL/SIM_MS5611.cpp
@@ -1,3 +1,5 @@
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
 #include "SIM_MS5611.h"
 
 #include <SITL/SITL.h>
diff --git a/libraries/SITL/SIM_Plane.cpp b/libraries/SITL/SIM_Plane.cpp
index c529f33814..f7b61f7df3 100644
--- a/libraries/SITL/SIM_Plane.cpp
+++ b/libraries/SITL/SIM_Plane.cpp
@@ -17,6 +17,8 @@
   just enough to be able to debug control logic for new frame types
 */
 
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
 #include "SIM_Plane.h"
 
 #include <stdio.h>
diff --git a/libraries/SITL/SIM_Submarine.h b/libraries/SITL/SIM_Submarine.h
index 42181e5a72..6c562cd496 100644
--- a/libraries/SITL/SIM_Submarine.h
+++ b/libraries/SITL/SIM_Submarine.h
@@ -67,12 +67,12 @@ protected:
         float thruster_mount_radius = 0.25; // distance in meters from thrusters to center of mass. Used to calculate torque.
         float equivalent_sphere_radius = 0.2;
         // volume = 4.pi.r³/3
-        float volume = 4 * M_PI * pow(equivalent_sphere_radius, 3) / 3;
+        float volume = 4 * M_PI * powf(equivalent_sphere_radius, 3) / 3;
         float density = 500;
         float mass = volume * density; // 16.75 kg
         // Moment of Inertia (I)(kg.m²) approximated with a sphere with a 25 cm radius (r) and same density as water
         // I = 2.m.r²/5
-        float moment_of_inertia =  2 * (mass * pow(equivalent_sphere_radius, 2) / 5);
+        float moment_of_inertia =  2 * (mass * powf(equivalent_sphere_radius, 2) / 5);
 
         // Frame drag coefficient
         const Vector3f linear_drag_coefficient = Vector3f(1.4, 1.8, 2.0);
@@ -83,7 +83,7 @@ protected:
         // $ V = 4 * pi * r^3 / 3 $
         // $ r ^2 = (V * 3 / 4) ^ (2/3) $
         // A = area (m^3), r = sphere radius (m)
-        float equivalent_sphere_area = M_PI_4 * pow(volume * 3.0f / 4.0f, 2.0f / 3.0f);
+        float equivalent_sphere_area = M_PI_4 * powf(volume * 3.0f / 4.0f, 2.0f / 3.0f);
 
     } frame_property;
 
diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 03899443df..8007e4e4e1 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -17,6 +17,8 @@
     SITL.cpp - software in the loop state
 */
 
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
 #include "SITL.h"
 
 #if AP_SIM_ENABLED