From a8dda9f2ed312e6ce7facdc521a9622e81ad92d5 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Fri, 24 Apr 2015 12:50:50 +0900
Subject: [PATCH] AP_Math: fix compile warnings re float constants

---
 libraries/AP_Math/AP_Math.cpp                 |  2 +-
 libraries/AP_Math/examples/eulers/eulers.pde  | 28 +++++++++----------
 .../AP_Math/examples/location/location.pde    | 22 +++++++--------
 3 files changed, 26 insertions(+), 26 deletions(-)

diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index 19ef964a00..28f568a3bc 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -6,7 +6,7 @@
 float safe_asin(float v)
 {
     if (isnan(v)) {
-        return 0.0;
+        return 0.0f;
     }
     if (v >= 1.0f) {
         return PI/2;
diff --git a/libraries/AP_Math/examples/eulers/eulers.pde b/libraries/AP_Math/examples/eulers/eulers.pde
index e4455111b3..8fc26c7e56 100644
--- a/libraries/AP_Math/examples/eulers/eulers.pde
+++ b/libraries/AP_Math/examples/eulers/eulers.pde
@@ -70,9 +70,9 @@ static void check_result(const char *msg,
         yaw2 += fmod(yaw2+PI, 2*PI);
     }
 
-    if (rad_diff(roll2,roll) > 0.01 ||
-        rad_diff(pitch2, pitch) > 0.01 ||
-        rad_diff(yaw2, yaw) > 0.01) {
+    if (rad_diff(roll2,roll) > 0.01f ||
+        rad_diff(pitch2, pitch) > 0.01f ||
+        rad_diff(yaw2, yaw) > 0.01f) {
         if (pitch >= PI/2 ||
             pitch <= -PI/2 ||
             ToDeg(rad_diff(pitch, PI/2)) < 1 ||
@@ -168,13 +168,13 @@ void test_quaternion_eulers(void)
     test_quaternion(1, -PI/4, 1);
     test_quaternion(1, 1, -PI/4);
 
-    test_quaternion(ToRad(89), 0, 0.1);
-    test_quaternion(0, ToRad(89), 0.1);
-    test_quaternion(0.1, 0, ToRad(89));
+    test_quaternion(ToRad(89), 0, 0.1f);
+    test_quaternion(0, ToRad(89), 0.1f);
+    test_quaternion(0.1f, 0, ToRad(89));
 
-    test_quaternion(ToRad(91), 0, 0.1);
-    test_quaternion(0, ToRad(91), 0.1);
-    test_quaternion(0.1, 0, ToRad(91));
+    test_quaternion(ToRad(91), 0, 0.1f);
+    test_quaternion(0, ToRad(91), 0.1f);
+    test_quaternion(0.1f, 0, ToRad(91));
 
     for (i=0; i<N; i++)
         for (j=0; j<N; j++)
@@ -218,11 +218,11 @@ void test_conversions(void)
 
     hal.console->println("matrix/quaternion tests\n");
 
-    test_conversion(1, 1.1, 1.2);
-    test_conversion(1, -1.1, 1.2);
-    test_conversion(1, -1.1, -1.2);
-    test_conversion(-1, 1.1, -1.2);
-    test_conversion(-1, 1.1, 1.2);
+    test_conversion(1, 1.1f, 1.2f);
+    test_conversion(1, -1.1f, 1.2f);
+    test_conversion(1, -1.1f, -1.2f);
+    test_conversion(-1, 1.1f, -1.2f);
+    test_conversion(-1, 1.1f, 1.2f);
 
     for (i=0; i<N; i++)
         for (j=0; j<N; j++)
diff --git a/libraries/AP_Math/examples/location/location.pde b/libraries/AP_Math/examples/location/location.pde
index d63af5a74b..dcf3854830 100644
--- a/libraries/AP_Math/examples/location/location.pde
+++ b/libraries/AP_Math/examples/location/location.pde
@@ -40,12 +40,12 @@ static const struct {
     Vector2f wp1, wp2, location;
     bool passed;
 } test_points[] = {
-    { Vector2f(-35.3647759314918, 149.16265692810987),
-      Vector2f(-35.36279922658029, 149.16352169591426),
-      Vector2f(-35.36214956969903, 149.16461410046492), true },
-    { Vector2f(-35.36438601157189, 149.16613916088568),
-      Vector2f(-35.364432558610254, 149.16287313113048),
-      Vector2f(-35.36491510034746, 149.16365837225004), false },
+    { Vector2f(-35.3647759314918f, 149.16265692810987f),
+      Vector2f(-35.36279922658029f, 149.16352169591426f),
+      Vector2f(-35.36214956969903f, 149.16461410046492f), true },
+    { Vector2f(-35.36438601157189f, 149.16613916088568f),
+      Vector2f(-35.364432558610254f, 149.16287313113048f),
+      Vector2f(-35.36491510034746f, 149.16365837225004f), false },
     { Vector2f(0, 0),
       Vector2f(0, 1),
       Vector2f(0, 2), true },
@@ -101,7 +101,7 @@ static void test_one_offset(const struct Location &loc,
     hal.console->printf("location_offset took %u usec\n",
                         (unsigned)(hal.scheduler->micros() - t1));
     dist2 = get_distance(loc, loc2);
-    bearing2 = get_bearing_cd(loc, loc2) * 0.01;
+    bearing2 = get_bearing_cd(loc, loc2) * 0.01f;
     float brg_error = bearing2-bearing;
     if (brg_error > 180) {
         brg_error -= 360;
@@ -109,8 +109,8 @@ static void test_one_offset(const struct Location &loc,
         brg_error += 360;
     }
 
-    if (fabsf(dist - dist2) > 1.0 ||
-        brg_error > 1.0) {
+    if (fabsf(dist - dist2) > 1.0f ||
+        brg_error > 1.0f) {
         hal.console->printf("Failed offset test brg_error=%f dist_error=%f\n",
                       brg_error, dist-dist2);
     }
@@ -119,8 +119,8 @@ static void test_one_offset(const struct Location &loc,
 static const struct {
     float ofs_north, ofs_east, distance, bearing;
 } test_offsets[] = {
-    { 1000, 1000,  sqrt(2.0)*1000, 45 },
-    { 1000, -1000, sqrt(2.0)*1000, -45 },
+    { 1000, 1000,  sqrt(2.0f)*1000, 45 },
+    { 1000, -1000, sqrt(2.0f)*1000, -45 },
     { 1000, 0,     1000, 0 },
     { 0, 1000,     1000, 90 },
 };