Fix use of floating point math functions

lib/main/MAVLink/mavlink_conversions.h

@@ -68,7 +68,7 @@ MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float d
 MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw)
 {
     float phi, theta, psi;
-    theta = asin(-dcm[2][0]);
+    theta = asinf(-dcm[2][0]);
 
     if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) {
         phi = 0.0f;

src/main/flight/gps_rescue.c

@@ -324,7 +324,7 @@ static void rescueAttainPosition()
 
     gpsRescueAngle[AI_PITCH] = constrain(gpsRescueAngle[AI_PITCH] + MIN(angleAdjustment, 80), rescueState.intent.minAngleDeg * 100, rescueState.intent.maxAngleDeg * 100);
 
-    const float ct = cos(DECIDEGREES_TO_RADIANS(gpsRescueAngle[AI_PITCH] / 10));
+    const float ct = cosf(DECIDEGREES_TO_RADIANS(gpsRescueAngle[AI_PITCH] / 10));
 
     /**
         Altitude controller

src/main/flight/mixer.c

@@ -366,9 +366,9 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS], motorMixer_t
                 motorOutput = (motorOutput < motorRangeMin) ? mixerRuntime.disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
             }
 #endif
-            motorOutput = constrain(motorOutput, mixerRuntime.disarmMotorOutput, motorRangeMax);
+            motorOutput = constrainf(motorOutput, mixerRuntime.disarmMotorOutput, motorRangeMax);
         } else {
-            motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
+            motorOutput = constrainf(motorOutput, motorRangeMin, motorRangeMax);
         }
         motor[i] = motorOutput;
     }

src/main/flight/pid.c

@@ -1233,13 +1233,14 @@ bool pidAntiGravityEnabled(void)
 #ifdef USE_DYN_LPF
 void dynLpfDTermUpdate(float throttle)
 {
-    unsigned int cutoffFreq;
     if (pidRuntime.dynLpfFilter != DYN_LPF_NONE) {
+        float cutoffFreq;
         if (pidRuntime.dynLpfCurveExpo > 0) {
             cutoffFreq = dynLpfCutoffFreq(throttle, pidRuntime.dynLpfMin, pidRuntime.dynLpfMax, pidRuntime.dynLpfCurveExpo);
         } else {
-            cutoffFreq = fmax(dynThrottle(throttle) * pidRuntime.dynLpfMax, pidRuntime.dynLpfMin);
+            cutoffFreq = fmaxf(dynThrottle(throttle) * pidRuntime.dynLpfMax, pidRuntime.dynLpfMin);
         }
+
         switch (pidRuntime.dynLpfFilter) {
         case DYN_LPF_PT1:
             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {

src/main/io/vtx_smartaudio.c

@@ -1036,7 +1036,7 @@ static uint8_t vtxSAGetPowerLevels(const vtxDevice_t *vtxDevice, uint16_t *level
 
     for (uint8_t i = 0; i < saSupportedNumPowerLevels; i++) {
         levels[i] = saSupportedPowerValues[i];
-        uint16_t power = (uint16_t)pow(10.0,levels[i]/10.0);
+        uint16_t power = (uint16_t)powf(10.0f, levels[i] / 10.0f);
 
         if (levels[i] > 14) {
             // For powers greater than 25mW round up to a multiple of 50 to match expectations

src/main/sensors/gyro.c

@@ -619,13 +619,13 @@ float dynThrottle(float throttle) {
 void dynLpfGyroUpdate(float throttle)
 {
     if (gyro.dynLpfFilter != DYN_LPF_NONE) {
-        unsigned int cutoffFreq;
+        float cutoffFreq;
         if (gyro.dynLpfCurveExpo > 0) {
             cutoffFreq = dynLpfCutoffFreq(throttle, gyro.dynLpfMin, gyro.dynLpfMax, gyro.dynLpfCurveExpo);
         } else {
-            cutoffFreq = fmax(dynThrottle(throttle) * gyro.dynLpfMax, gyro.dynLpfMin);
+            cutoffFreq = fmaxf(dynThrottle(throttle) * gyro.dynLpfMax, gyro.dynLpfMin);
         }
-        DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
+        DEBUG_SET(DEBUG_DYN_LPF, 2, lrintf(cutoffFreq));
         const float gyroDt = gyro.targetLooptime * 1e-6f;
         switch (gyro.dynLpfFilter) {
         case DYN_LPF_PT1:

src/test/unit/flight_imu_unittest.cc

@@ -72,7 +72,7 @@ extern "C" {
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
 
-const float sqrt2over2 = sqrt(2) / 2.0f;
+const float sqrt2over2 = sqrtf(2) / 2.0f;
 
 TEST(FlightImuTest, TestCalculateRotationMatrix)
 {

src/test/unit/maths_unittest.cc

@@ -207,8 +207,8 @@ TEST(MathsUnittest, TestFastTrigonometrySinCos)
 {
     double sinError = 0;
     for (float x = -10 * M_PI; x < 10 * M_PI; x += M_PI / 300) {
-        double approxResult = sin_approx(x);
+        float approxResult = sin_approx(x);
-        double libmResult = sinf(x);
+        double libmResult = sin(x);
         sinError = MAX(sinError, fabs(approxResult - libmResult));
     }
     printf("sin_approx maximum absolute error = %e\n", sinError);
@@ -216,8 +216,8 @@ TEST(MathsUnittest, TestFastTrigonometrySinCos)
 
     double cosError = 0;
     for (float x = -10 * M_PI; x < 10 * M_PI; x += M_PI / 300) {
-        double approxResult = cos_approx(x);
+        float approxResult = cos_approx(x);
-        double libmResult = cosf(x);
+        double libmResult = cos(x);
         cosError = MAX(cosError, fabs(approxResult - libmResult));
     }
     printf("cos_approx maximum absolute error = %e\n", cosError);
@@ -229,8 +229,8 @@ TEST(MathsUnittest, TestFastTrigonometryATan2)
     double error = 0;
     for (float x = -1.0f; x < 1.0f; x += 0.01) {
         for (float y = -1.0f; x < 1.0f; x += 0.001) {
-            double approxResult = atan2_approx(y, x);
+            float approxResult = atan2_approx(y, x);
-            double libmResult = atan2f(y, x);
+            double libmResult = atan2(y, x);
             error = MAX(error, fabs(approxResult - libmResult));
         }
     }
@@ -242,7 +242,7 @@ TEST(MathsUnittest, TestFastTrigonometryACos)
 {
     double error = 0;
     for (float x = -1.0f; x < 1.0f; x += 0.001) {
-        double approxResult = acos_approx(x);
+        float approxResult = acos_approx(x);
         double libmResult = acos(x);
         error = MAX(error, fabs(approxResult - libmResult));
     }

src/test/unit/pid_unittest.cc

@@ -224,7 +224,7 @@ void setStickPosition(int axis, float stickRatio) {
 
 // All calculations will have 10% tolerance
 float calculateTolerance(float input) {
-    return fabs(input * 0.1f);
+    return fabsf(input * 0.1f);
 }
 
 TEST(pidControllerTest, testInitialisation)