APMrover2: compile warnings: float to double. print statements require doubles

APMrover2/APMrover2.pde

@@ -828,7 +828,7 @@ static void update_current_mode(void)
 
         // and throttle gives speed in proportion to cruise speed, up
         // to 50% throttle, then uses nudging above that.
-        float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise;
+        float target_speed = channel_throttle->pwm_to_angle() * 0.01f * 2 * g.speed_cruise;
         set_reverse(target_speed < 0);
         if (in_reverse) {
             target_speed = constrain_float(target_speed, -g.speed_cruise, 0);

APMrover2/GCS_Mavlink.pde

@@ -677,7 +677,7 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
     // parameter sends
     if ((stream_num != STREAM_PARAMS) && 
         (waypoint_receiving || _queued_parameter != NULL)) {
-        rate *= 0.25;
+        rate *= 0.25f;
     }
 
     if (rate <= 0) {

APMrover2/radio.pde

@@ -54,7 +54,7 @@ static void read_radio()
 	channel_throttle->servo_out = channel_throttle->control_in;
 
 	if (abs(channel_throttle->servo_out) > 50) {
-        throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((fabsf(channel_throttle->norm_input())-0.5) / 0.5);
+        throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
 	} else {
 		throttle_nudge = 0;
 	}

APMrover2/setup.pde

@@ -88,7 +88,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
 				cliSerial->printf_P(PSTR("INT32 %s: %ld\n"), argv[1].str, (long)((AP_Int32 *)param)->get());
 				break;
 			case AP_PARAM_FLOAT:
-				cliSerial->printf_P(PSTR("FLOAT %s: %f\n"), argv[1].str, ((AP_Float *)param)->get());
+				cliSerial->printf_P(PSTR("FLOAT %s: %f\n"), argv[1].str, (double)((AP_Float *)param)->get());
 				break;
 			default:
 				cliSerial->printf_P(PSTR("Unhandled parameter type for %s: %d.\n"), argv[1].str, type);
@@ -516,9 +516,9 @@ static void report_compass()
 
 	// mag offsets
 	cliSerial->printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f\n"),
-							offsets.x,
-							offsets.y,
-							offsets.z);
+                            (double)offsets.x,
+                            (double)offsets.y,
+                            (double)offsets.z);
 	print_blanks(2);
 }
 
@@ -542,9 +542,9 @@ static void
 print_PID(PID * pid)
 {
 	cliSerial->printf_P(PSTR("P: %4.3f, I:%4.3f, D:%4.3f, IMAX:%ld\n"),
-					pid->kP(),
-					pid->kI(),
-					pid->kD(),
+                    (double)pid->kP(),
+                    (double)pid->kI(),
+                    (double)pid->kD(),
 					(long)pid->imax());
 }
 

APMrover2/test.pde

@@ -369,8 +369,8 @@ test_ins(uint8_t argc, const Menu::arg *argv)
                             (int)ahrs.roll_sensor / 100,
                             (int)ahrs.pitch_sensor / 100,
                             (uint16_t)ahrs.yaw_sensor / 100,
-                            gyros.x, gyros.y, gyros.z,
-                            accels.x, accels.y, accels.z);
+                            (double)gyros.x, (double)gyros.y, (double)gyros.z,
+                            (double)accels.x, (double)accels.y, (double)accels.z);
         if(cliSerial->available() > 0){
             return (0);
         }
@@ -430,8 +430,8 @@ test_mag(uint8_t argc, const Menu::arg *argv)
                 const Vector3f mag = compass.get_field();
                 cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
                                     (wrap_360_cd(ToDeg(heading) * 100)) /100,
-                                    mag.x, mag.y, mag.z,
-                                    mag_ofs.x, mag_ofs.y, mag_ofs.z);
+                                    (double)mag.x, (double)mag.y, (double)mag.z,
+                                    (double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
             } else {
                 cliSerial->println_P(PSTR("compass not healthy"));
             }
@@ -502,14 +502,14 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
 
         if (now - last_print >= 200) {
             cliSerial->printf_P(PSTR("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f   sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n"), 
-                                sonar_dist_cm_min, 
-                                sonar_dist_cm_max, 
-                                voltage_min,
-                                voltage_max,
-                                sonar2_dist_cm_min, 
-                                sonar2_dist_cm_max, 
-                                voltage2_min,
-                                voltage2_max);
+                                (double)sonar_dist_cm_min,
+                                (double)sonar_dist_cm_max,
+                                (double)voltage_min,
+                                (double)voltage_max,
+                                (double)sonar2_dist_cm_min,
+                                (double)sonar2_dist_cm_max,
+                                (double)voltage2_min,
+                                (double)voltage2_max);
             voltage_min = voltage_max = 0.0f;
             voltage2_min = voltage2_max = 0.0f;
             sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;