avoid double promotions

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -675,7 +675,7 @@ bool AttitudeEstimatorQ::update(float dt)
 		const float fifty_dps = 0.873f;
 
 		if (spinRate > fifty_dps) {
-			gainMult = fmin(spinRate / fifty_dps, 10.0f);
+			gainMult = math::min(spinRate / fifty_dps, 10.0f);
 		}
 
 		// Project magnetometer correction to body frame

src/modules/controllib_test/controllib_test_main.cpp

@@ -475,7 +475,7 @@ int blockRandGaussTest()
 		mean = newMean;
 	}
 
-	float stdDev = sqrt(sum / (n - 1));
+	float stdDev = sqrtf(sum / (n - 1));
 	(void)(stdDev);
 	ASSERT_CL(equal(mean, blockRandGauss.getMean(), 1e-1));
 	ASSERT_CL(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));

src/modules/fw_pos_control_l1/CMakeLists.txt

@@ -35,7 +35,6 @@ px4_add_module(
 	MAIN fw_pos_control_l1
 	STACK_MAIN 1200
 	COMPILE_FLAGS
-		-Weffc++
 	SRCS
 		fw_pos_control_l1_main.cpp
 		landingslope.cpp

src/modules/sensors/parameters.cpp

@@ -366,46 +366,46 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
 	param_get(parameter_handles.rc_fails_thr, &(parameters.rc_fails_thr));
 	param_get(parameter_handles.rc_assist_th, &(parameters.rc_assist_th));
 	parameters.rc_assist_inv = (parameters.rc_assist_th < 0);
-	parameters.rc_assist_th = fabs(parameters.rc_assist_th);
+	parameters.rc_assist_th = fabsf(parameters.rc_assist_th);
 	param_get(parameter_handles.rc_auto_th, &(parameters.rc_auto_th));
 	parameters.rc_auto_inv = (parameters.rc_auto_th < 0);
-	parameters.rc_auto_th = fabs(parameters.rc_auto_th);
+	parameters.rc_auto_th = fabsf(parameters.rc_auto_th);
 	param_get(parameter_handles.rc_rattitude_th, &(parameters.rc_rattitude_th));
 	parameters.rc_rattitude_inv = (parameters.rc_rattitude_th < 0);
-	parameters.rc_rattitude_th = fabs(parameters.rc_rattitude_th);
+	parameters.rc_rattitude_th = fabsf(parameters.rc_rattitude_th);
 	param_get(parameter_handles.rc_posctl_th, &(parameters.rc_posctl_th));
 	parameters.rc_posctl_inv = (parameters.rc_posctl_th < 0);
-	parameters.rc_posctl_th = fabs(parameters.rc_posctl_th);
+	parameters.rc_posctl_th = fabsf(parameters.rc_posctl_th);
 	param_get(parameter_handles.rc_return_th, &(parameters.rc_return_th));
 	parameters.rc_return_inv = (parameters.rc_return_th < 0);
-	parameters.rc_return_th = fabs(parameters.rc_return_th);
+	parameters.rc_return_th = fabsf(parameters.rc_return_th);
 	param_get(parameter_handles.rc_loiter_th, &(parameters.rc_loiter_th));
 	parameters.rc_loiter_inv = (parameters.rc_loiter_th < 0);
-	parameters.rc_loiter_th = fabs(parameters.rc_loiter_th);
+	parameters.rc_loiter_th = fabsf(parameters.rc_loiter_th);
 	param_get(parameter_handles.rc_acro_th, &(parameters.rc_acro_th));
 	parameters.rc_acro_inv = (parameters.rc_acro_th < 0);
-	parameters.rc_acro_th = fabs(parameters.rc_acro_th);
+	parameters.rc_acro_th = fabsf(parameters.rc_acro_th);
 	param_get(parameter_handles.rc_offboard_th, &(parameters.rc_offboard_th));
 	parameters.rc_offboard_inv = (parameters.rc_offboard_th < 0);
-	parameters.rc_offboard_th = fabs(parameters.rc_offboard_th);
+	parameters.rc_offboard_th = fabsf(parameters.rc_offboard_th);
 	param_get(parameter_handles.rc_killswitch_th, &(parameters.rc_killswitch_th));
 	parameters.rc_killswitch_inv = (parameters.rc_killswitch_th < 0);
-	parameters.rc_killswitch_th = fabs(parameters.rc_killswitch_th);
+	parameters.rc_killswitch_th = fabsf(parameters.rc_killswitch_th);
 	param_get(parameter_handles.rc_armswitch_th, &(parameters.rc_armswitch_th));
 	parameters.rc_armswitch_inv = (parameters.rc_armswitch_th < 0);
-	parameters.rc_armswitch_th = fabs(parameters.rc_armswitch_th);
+	parameters.rc_armswitch_th = fabsf(parameters.rc_armswitch_th);
 	param_get(parameter_handles.rc_trans_th, &(parameters.rc_trans_th));
 	parameters.rc_trans_inv = (parameters.rc_trans_th < 0);
-	parameters.rc_trans_th = fabs(parameters.rc_trans_th);
+	parameters.rc_trans_th = fabsf(parameters.rc_trans_th);
 	param_get(parameter_handles.rc_gear_th, &(parameters.rc_gear_th));
 	parameters.rc_gear_inv = (parameters.rc_gear_th < 0);
-	parameters.rc_gear_th = fabs(parameters.rc_gear_th);
+	parameters.rc_gear_th = fabsf(parameters.rc_gear_th);
 	param_get(parameter_handles.rc_stab_th, &(parameters.rc_stab_th));
 	parameters.rc_stab_inv = (parameters.rc_stab_th < 0);
-	parameters.rc_stab_th = fabs(parameters.rc_stab_th);
+	parameters.rc_stab_th = fabsf(parameters.rc_stab_th);
 	param_get(parameter_handles.rc_man_th, &(parameters.rc_man_th));
 	parameters.rc_man_inv = (parameters.rc_man_th < 0);
-	parameters.rc_man_th = fabs(parameters.rc_man_th);
+	parameters.rc_man_th = fabsf(parameters.rc_man_th);
 
 	param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate));
 	parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate);

src/modules/unit_test/unit_test.h

@@ -147,7 +147,7 @@ protected:
 /// since it will give you better error reporting of the actual values being compared.
 #define ut_compare_float(message, v1, v2, precision)						\
 	do {											\
-		int _p = pow(10, precision);							\
+		int _p = pow(10.0f, precision);							\
 		int _v1 = (int)(v1 * _p + 0.5f);						\
 		int _v2 = (int)(v2 * _p + 0.5f);						\
 		if (_v1 != _v2) {								\

src/modules/vtol_att_control/vtol_type.cpp

@@ -40,11 +40,12 @@
 */
 
 #include "vtol_type.h"
-#include "drivers/drv_pwm_output.h"
-#include <px4_defines.h>
-#include <float.h>
 #include "vtol_att_control_main.h"
 
+#include <cfloat>
+#include <px4_defines.h>
+#include <matrix/math.hpp>
+
 VtolType::VtolType(VtolAttitudeControl *att_controller) :
 	_attc(att_controller),
 	_vtol_mode(ROTARY_WING)
@@ -209,7 +210,7 @@ void VtolType::check_quadchute_condition()
 		// fixed-wing maximum pitch angle
 		if (_params->fw_qc_max_pitch > 0) {
 
-			if (fabs(euler.theta()) > fabs(math::radians(_params->fw_qc_max_pitch))) {
+			if (fabsf(euler.theta()) > fabsf(math::radians(_params->fw_qc_max_pitch))) {
 				_attc->abort_front_transition("Maximum pitch angle exceeded");
 			}
 		}
@@ -217,7 +218,7 @@ void VtolType::check_quadchute_condition()
 		// fixed-wing maximum roll angle
 		if (_params->fw_qc_max_roll > 0) {
 
-			if (fabs(euler.phi()) > fabs(math::radians(_params->fw_qc_max_roll))) {
+			if (fabsf(euler.phi()) > fabsf(math::radians(_params->fw_qc_max_roll))) {
 				_attc->abort_front_transition("Maximum roll angle exceeded");
 			}
 		}