double promotion warning fix or ignore per module

src/modules/commander/commander.cpp

@@ -386,8 +386,8 @@ int commander_main(int argc, char *argv[])
 
 				struct vehicle_command_s cmd = {
 					.timestamp = hrt_absolute_time(),
-					.param5 = NAN,
-					.param6 = NAN,
+					.param5 = (double)NAN,
+					.param6 = (double)NAN,
 					/* minimum pitch */
 					.param1 = NAN,
 					.param2 = NAN,
@@ -417,8 +417,8 @@ int commander_main(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = NAN,
-			.param6 = NAN,
+			.param5 = (double)NAN,
+			.param6 = (double)NAN,
 			/* minimum pitch */
 			.param1 = NAN,
 			.param2 = NAN,
@@ -440,8 +440,8 @@ int commander_main(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = NAN,
-			.param6 = NAN,
+			.param5 = (double)NAN,
+			.param6 = (double)NAN,
 			/* transition to the other mode */
 			.param1 = (float)((status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
 			.param2 = NAN,
@@ -511,8 +511,8 @@ int commander_main(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = 0.0f,
-			.param6 = 0.0f,
+			.param5 = 0.0,
+			.param6 = 0.0,
 			/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
 			.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f, /* lockdown */
 			.param2 = 0.0f,

src/modules/dataman/dataman.cpp

@@ -1031,7 +1031,7 @@ _ram_flash_flush()
 		return;
 	}
 
-	const size_t len = (dm_operations_data.ram_flash.data_end - dm_operations_data.ram_flash.data) + 1;
+	const ssize_t len = (dm_operations_data.ram_flash.data_end - dm_operations_data.ram_flash.data) + 1;
 	ret = up_progmem_write(k_dataman_flash_sector->address, dm_operations_data.ram_flash.data, len);
 
 	if (ret < len) {

src/modules/events/send_event.cpp

@@ -263,8 +263,8 @@ int SendEvent::custom_command(int argc, char *argv[])
 
 		struct vehicle_command_s cmd = {
 			.timestamp = 0,
-			.param5 = (float)((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
-			.param6 = NAN,
+			.param5 = ((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : (double)NAN),
+			.param6 = (double)NAN,
 			.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
 			.param2 = NAN,
 			.param3 = NAN,

src/modules/events/temperature_calibration/accel.cpp

@@ -158,7 +158,7 @@ int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int
 	}
 
 	//update linear fit matrices
-	double relative_temperature = data.sensor_sample_filt[3] - data.ref_temp;
+	double relative_temperature = (double)data.sensor_sample_filt[3] - (double)data.ref_temp;
 	data.P[0].update(relative_temperature, (double)data.sensor_sample_filt[0]);
 	data.P[1].update(relative_temperature, (double)data.sensor_sample_filt[1]);
 	data.P[2].update(relative_temperature, (double)data.sensor_sample_filt[2]);

src/modules/events/temperature_calibration/baro.cpp

@@ -145,7 +145,7 @@ int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int
 	}
 
 	//update linear fit matrices
-	double relative_temperature = data.sensor_sample_filt[1] - data.ref_temp;
+	double relative_temperature = (double)data.sensor_sample_filt[1] - (double)data.ref_temp;
 	data.P[0].update(relative_temperature, (double)data.sensor_sample_filt[0]);
 
 	return 1;

src/modules/events/temperature_calibration/gyro.cpp

@@ -145,7 +145,7 @@ int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int
 	}
 
 	//update linear fit matrices
-	double relative_temperature = data.sensor_sample_filt[3] - data.ref_temp;
+	double relative_temperature = (double)data.sensor_sample_filt[3] - (double)data.ref_temp;
 	data.P[0].update(relative_temperature, (double)data.sensor_sample_filt[0]);
 	data.P[1].update(relative_temperature, (double)data.sensor_sample_filt[1]);
 	data.P[2].update(relative_temperature, (double)data.sensor_sample_filt[2]);

src/modules/events/temperature_calibration/polyfit.hpp

@@ -172,7 +172,7 @@ private:
 
 	void update_VTV(double x)
 	{
-		double temp = 1.0f;
+		double temp = 1.0;
 		int8_t z;
 
 		for (unsigned i = 0; i < _forder; i++) {

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -510,7 +510,7 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const Vector2f &curr_pos
 			delta_altitude = pos_sp_curr.alt - pos_sp_prev.alt;
 
 		} else {
-			distance = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), pos_sp_curr.lat, pos_sp_curr.lon);
+			distance = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1), pos_sp_curr.lat, pos_sp_curr.lon);
 			delta_altitude = pos_sp_curr.alt - _global_pos.alt;
 		}
 
@@ -1314,17 +1314,20 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
 		_fw_pos_ctrl_status.abort_landing = false;
 	}
 
-	const float bearing_airplane_currwp = get_bearing_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
+	const float bearing_airplane_currwp = get_bearing_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
+					      (double)curr_wp(0), (double)curr_wp(1));
 
 	float bearing_lastwp_currwp = bearing_airplane_currwp;
 
 	if (pos_sp_prev.valid) {
-		bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
+		bearing_lastwp_currwp = get_bearing_to_next_waypoint((double)prev_wp(0), (double)prev_wp(1), (double)curr_wp(0),
+					(double)curr_wp(1));
 	}
 
 	/* Horizontal landing control */
 	/* switch to heading hold for the last meters, continue heading hold after */
-	float wp_distance = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
+	float wp_distance = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1), (double)curr_wp(0),
+			    (double)curr_wp(1));
 
 	/* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */
 	float wp_distance_save = wp_distance;
@@ -1755,7 +1758,8 @@ FixedwingPositionControl::run()
 
 					Vector2f curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
 
-					_fw_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
+					_fw_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
+								      (double)curr_wp(0), (double)curr_wp(1));
 
 					fw_pos_ctrl_status_publish();
 				}

src/modules/gnd_pos_control/GroundRoverPositionControl.cpp

@@ -461,8 +461,8 @@ GroundRoverPositionControl::task_main()
 					_gnd_pos_ctrl_status.xtrack_error = _gnd_control.crosstrack_error();
 
 					matrix::Vector2f curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
-					_gnd_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0),
-								       curr_wp(1));
+					_gnd_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint((double)current_position(0), (double)current_position(1),
+								       (double)curr_wp(0), (double)curr_wp(1));
 
 					gnd_pos_ctrl_status_publish();
 				}

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -336,8 +336,8 @@ void BlockLocalPositionEstimator::update()
 	// if we have no lat, lon initialize projection to LPE_LAT, LPE_LON parameters
 	if (!_map_ref.init_done && (_estimatorInitialized & EST_XY) && _fake_origin.get()) {
 		map_projection_init(&_map_ref,
-				    _init_origin_lat.get(),
-				    _init_origin_lon.get());
+				    (double)_init_origin_lat.get(),
+				    (double)_init_origin_lon.get());
 
 		// set timestamp when origin was set to current time
 		_time_origin = _timeStamp;

src/modules/local_position_estimator/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MAIN local_position_estimator
 	COMPILE_FLAGS
 		-Wno-sign-compare # TODO: fix all sign-compare
+		-Wno-double-promotion # TODO: fix in Matrix library Vector::pow()
 	STACK_MAIN 5700
 	STACK_MAX 13000
 	SRCS

src/modules/local_position_estimator/sensors/gps.cpp

@@ -95,9 +95,9 @@ int BlockLocalPositionEstimator::gpsMeasure(Vector<double, n_y_gps> &y)
 	y(0) = _sub_gps.get().lat * 1e-7;
 	y(1) = _sub_gps.get().lon * 1e-7;
 	y(2) = _sub_gps.get().alt * 1e-3;
-	y(3) = _sub_gps.get().vel_n_m_s;
-	y(4) = _sub_gps.get().vel_e_m_s;
-	y(5) = _sub_gps.get().vel_d_m_s;
+	y(3) = (double)_sub_gps.get().vel_n_m_s;
+	y(4) = (double)_sub_gps.get().vel_e_m_s;
+	y(5) = (double)_sub_gps.get().vel_d_m_s;
 
 	// increament sums for mean
 	_gpsStats.update(y);

src/modules/mavlink/mavlink_messages.cpp

@@ -1561,8 +1561,8 @@ protected:
 
 				struct vehicle_command_s cmd = {
 					.timestamp = 0,
-					.param5 = NAN,
-					.param6 = NAN,
+					.param5 = (double)NAN,
+					.param6 = (double)NAN,
 					.param1 = 0.0f, // all cameras
 					.param2 = 0.0f, // duration 0 because only taking one picture
 					.param3 = 1.0f, // only take one

src/modules/mavlink/mavlink_receiver.cpp

@@ -487,8 +487,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 
 	struct vehicle_command_s vcmd = {
 		.timestamp = hrt_absolute_time(),
-		.param5 = cmd_mavlink.param5,
-		.param6 = cmd_mavlink.param6,
+		.param5 = (double)cmd_mavlink.param5,
+		.param6 = (double)cmd_mavlink.param6,
 		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
 		.param1 = cmd_mavlink.param1,
 		.param2 = cmd_mavlink.param2,

src/modules/mavlink/mavlink_timesync.cpp

@@ -107,10 +107,10 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 						// Filter gain scheduling
 						if (!sync_converged()) {
 							// Interpolate with a sigmoid function
-							float progress = ((float)_sequence) / CONVERGENCE_WINDOW;
-							float p = 1.0f - expf(0.5f * (1.0f - 1.0f / (1.0f - progress)));
-							_filter_alpha = p * (float)ALPHA_GAIN_FINAL + (1.0f - p) * (float)ALPHA_GAIN_INITIAL;
-							_filter_beta = p * (float)BETA_GAIN_FINAL + (1.0f - p) * (float)BETA_GAIN_INITIAL;
+							double progress = _sequence / CONVERGENCE_WINDOW;
+							double p = 1.0 - exp(0.5 * (1.0 - 1.0 / (1.0 - progress)));
+							_filter_alpha = p * ALPHA_GAIN_FINAL + (1.0 - p) * ALPHA_GAIN_INITIAL;
+							_filter_beta = p * BETA_GAIN_FINAL + (1.0 - p) * BETA_GAIN_INITIAL;
 
 						} else {
 							_filter_alpha = ALPHA_GAIN_FINAL;

src/modules/navigator/geofence.cpp

@@ -229,7 +229,7 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
 
 		const double home_lat = _navigator->get_home_position()->lat;
 		const double home_lon = _navigator->get_home_position()->lon;
-		const double home_alt = _navigator->get_home_position()->alt;
+		const float home_alt = _navigator->get_home_position()->alt;
 
 		float dist_xy = -1.0f;
 		float dist_z = -1.0f;

src/modules/navigator/mission_block.cpp

@@ -452,8 +452,8 @@ MissionBlock::issue_command(const mission_item_s &item)
 		vcmd.param2 = item.params[1];
 		vcmd.param3 = item.params[2];
 		vcmd.param4 = item.params[3];
-		vcmd.param5 = item.params[4];
-		vcmd.param6 = item.params[5];
+		vcmd.param5 = (double)item.params[4];
+		vcmd.param6 = (double)item.params[5];
 
 		if (item.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION && item.altitude_is_relative) {
 			vcmd.param7 = item.params[6] + _navigator->get_home_position()->alt;
@@ -644,8 +644,8 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
 
 	/* use current position */
 	if (at_current_location) {
-		item->lat = NAN; //descend at current position
-		item->lon = NAN; //descend at current position
+		item->lat = (double)NAN; //descend at current position
+		item->lon = (double)NAN; //descend at current position
 		item->yaw = _navigator->get_local_position()->yaw;
 
 	} else {

src/modules/navigator/mission_feasibility_checker.cpp

@@ -522,8 +522,8 @@ MissionFeasibilityChecker::checkDistancesBetweenWaypoints(const mission_s &missi
 		return true;
 	}
 
-	double last_lat = NAN;
-	double last_lon = NAN;
+	double last_lat = (double)NAN;
+	double last_lon = (double)NAN;
 
 	/* Go through all waypoints */
 	for (size_t i = 0; i < mission.count; i++) {

src/modules/navigator/navigator_main.cpp

@@ -407,8 +407,8 @@ Navigator::run()
 
 				} else {
 					// If one of them is non-finite, reset both
-					rep->current.lat = NAN;
-					rep->current.lon = NAN;
+					rep->current.lat = (double)NAN;
+					rep->current.lon = (double)NAN;
 				}
 
 				rep->current.alt = cmd.param7;

src/modules/simulator/CMakeLists.txt

@@ -59,6 +59,7 @@ px4_add_module(
 	MODULE modules__simulator
 	MAIN simulator
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	INCLUDES
 		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	SRCS

src/modules/simulator/accelsim/CMakeLists.txt

@@ -34,6 +34,8 @@
 px4_add_module(
 	MODULE drivers__accelsim
 	MAIN accelsim
+	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		accelsim.cpp
 	DEPENDS

src/modules/simulator/airspeedsim/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__airspeedsim
 	MAIN measairspeedsim
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		airspeedsim.cpp
 		meas_airspeed_sim.cpp

src/modules/simulator/barosim/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__barosim
 	MAIN barosim
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		baro.cpp
 	DEPENDS

src/modules/simulator/gpssim/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__gpssim
 	MAIN gpssim
 	COMPILE_FLAGS
+		-Wno-double-promotion
 	SRCS
 		gpssim.cpp
 	DEPENDS

src/modules/simulator/gyrosim/CMakeLists.txt

@@ -34,6 +34,8 @@
 px4_add_module(
 	MODULE drivers__gyrosim
 	MAIN gyrosim
+	COMPILE_FLAGS
+		-Wno-double-promotion
 	STACK_MAIN 1200
 	SRCS
 		gyrosim.cpp

src/modules/systemlib/print_load_posix.c

@@ -138,7 +138,7 @@ void print_load(uint64_t t, int fd, struct print_load_s *print_state)
 		clear_line,
 		th_cnt);
 
-	for (int j = 0; j < th_cnt; j++) {
+	for (unsigned j = 0; j < th_cnt; j++) {
 		thread_info_count = THREAD_INFO_MAX;
 		kr = thread_info(thread_list[j], THREAD_BASIC_INFO,
 				 (thread_info_t)th_info_data, &thread_info_count);