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

ArduCopter/config.h

@@ -156,7 +156,7 @@
 #endif
 
 #ifndef SONAR_GAIN_DEFAULT
- # define SONAR_GAIN_DEFAULT 0.8            // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
+ # define SONAR_GAIN_DEFAULT 0.8f           // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
 #endif
 
 #ifndef THR_SURFACE_TRACKING_VELZ_MAX
@@ -287,7 +287,7 @@
 
 // arming check's maximum acceptable vector difference between internal and external compass after vectors are normalized to field length of 1.0
 #ifndef COMPASS_ACCEPTABLE_VECTOR_DIFF
-  #define COMPASS_ACCEPTABLE_VECTOR_DIFF    0.75    // pre arm compass check will fail if internal vs external compass direction differ by more than 45 degrees
+  #define COMPASS_ACCEPTABLE_VECTOR_DIFF    0.75f    // pre arm compass check will fail if internal vs external compass direction differ by more than 45 degrees
  #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/control_poshold.pde

@@ -641,8 +641,8 @@ static void poshold_get_wind_comp_lean_angles(int16_t &roll_angle, int16_t &pitc
     poshold.wind_comp_timer = 0;
 
     // convert earth frame desired accelerations to body frame roll and pitch lean angles
-    roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/M_PI);
-    pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/M_PI);
+    roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/(float)M_PI);
+    pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/(float)M_PI);
 }
 
 // poshold_roll_controller_to_pilot_override - initialises transition from a controller submode (brake or loiter) to a pilot override on roll axis

ArduCopter/motors.pde

@@ -346,7 +346,7 @@ static bool pre_arm_checks(bool display_failure)
 
         // check for unreasonable mag field length
         float mag_field = compass.get_field().length();
-        if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65 || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35) {
+        if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
             if (display_failure) {
                 gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field"));
             }

ArduCopter/setup.pde

@@ -431,12 +431,12 @@ print_accel_offsets_and_scaling(void)
     const Vector3f &accel_offsets = ins.get_accel_offsets();
     const Vector3f &accel_scale = ins.get_accel_scale();
     cliSerial->printf_P(PSTR("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n"),
-                    (float)accel_offsets.x,                           // Pitch
-                    (float)accel_offsets.y,                           // Roll
-                    (float)accel_offsets.z,                           // YAW
-                    (float)accel_scale.x,                             // Pitch
-                    (float)accel_scale.y,                             // Roll
-                    (float)accel_scale.z);                            // YAW
+                    (double)accel_offsets.x,                           // Pitch
+                    (double)accel_offsets.y,                           // Roll
+                    (double)accel_offsets.z,                           // YAW
+                    (double)accel_scale.x,                             // Pitch
+                    (double)accel_scale.y,                             // Roll
+                    (double)accel_scale.z);                            // YAW
 }
 
 static void
@@ -444,9 +444,9 @@ print_gyro_offsets(void)
 {
     const Vector3f &gyro_offsets = ins.get_gyro_offsets();
     cliSerial->printf_P(PSTR("G_off: %4.2f, %4.2f, %4.2f\n"),
-                    (float)gyro_offsets.x,
-                    (float)gyro_offsets.y,
-                    (float)gyro_offsets.z);
+                    (double)gyro_offsets.x,
+                    (double)gyro_offsets.y,
+                    (double)gyro_offsets.z);
 }
 
 #endif // CLI_ENABLED
@@ -461,7 +461,7 @@ static void report_compass()
 
     // mag declination
     cliSerial->printf_P(PSTR("Mag Dec: %4.4f\n"),
-                    degrees(compass.get_declination()));
+            (double)degrees(compass.get_declination()));
 
     // mag offsets
     Vector3f offsets;
@@ -470,9 +470,9 @@ static void report_compass()
         // mag offsets
         cliSerial->printf_P(PSTR("Mag%d off: %4.4f, %4.4f, %4.4f\n"),
                         (int)i,
-                        offsets.x,
-                        offsets.y,
-                        offsets.z);
+                        (double)offsets.x,
+                        (double)offsets.y,
+                        (double)offsets.z);
     }
 
     // motor compensation
@@ -491,9 +491,9 @@ static void report_compass()
             motor_compensation = compass.get_motor_compensation(i);
             cliSerial->printf_P(PSTR("\nComMot%d: %4.2f, %4.2f, %4.2f\n"),
                         (int)i,
-                        motor_compensation.x,
-                        motor_compensation.y,
-                        motor_compensation.z);
+                        (double)motor_compensation.x,
+                        (double)motor_compensation.y,
+                        (double)motor_compensation.z);
         }
     }
     print_blanks(1);

ArduCopter/test.pde

@@ -63,9 +63,9 @@ test_baro(uint8_t argc, const Menu::arg *argv)
             cliSerial->println_P(PSTR("not healthy"));
         } else {
             cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
-                                baro_alt / 100.0,
-                                barometer.get_pressure(), 
-                                barometer.get_temperature());
+                                (double)(baro_alt / 100.0f),
+                                (double)barometer.get_pressure(),
+                                (double)barometer.get_temperature());
         }
         if(cliSerial->available() > 0) {
             return (0);
@@ -138,12 +138,12 @@ test_compass(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"));
                 }
@@ -185,9 +185,9 @@ test_ins(uint8_t argc, const Menu::arg *argv)
         float test = accel.length() / GRAVITY_MSS;
 
         cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n"),
-            accel.x, accel.y, accel.z,
-            gyro.x, gyro.y, gyro.z,
-            test);
+                (double)accel.x, (double)accel.y, (double)accel.z,
+            (double)gyro.x, (double)gyro.y, (double)gyro.z,
+            (double)test);
 
         delay(40);
         if(cliSerial->available() > 0) {
@@ -209,8 +209,8 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
             optflow.update();
             const Vector2f& flowRate = optflow.flowRate();
             cliSerial->printf_P(PSTR("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n"),
-                            flowRate.x,
-                            flowRate.y,
+                            (double)flowRate.x,
+                            (double)flowRate.y,
                             (int)optflow.quality());
 
             if(cliSerial->available() > 0) {