diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 755c430048..c7a1f6b689 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -438,7 +438,7 @@ bool AP_InertialSensor_MPU9250::_accumulate(uint8_t *samples, uint8_t n_samples)
             _fifo_reset();
             return false;
         }
-        float temp = t2/340 + 36.53;
+        float temp = t2/340.0f + 36.53f;
         
         gyro = Vector3f(int16_val(data, 5),
                         int16_val(data, 4),
@@ -527,7 +527,7 @@ bool AP_InertialSensor_MPU9250::_accumulate_fast_sampling(uint8_t *samples, uint
     }
 
     if (ret) {
-        float temp = (tsum/n_samples)/340.0 + 36.53;
+        float temp = (static_cast<float>(tsum)/n_samples)/340.0f + 36.53f;
         _temp_filtered = _temp_filter.apply(temp);
     }