From 8b5fc828184c908eb4ab594633bc9a51fd06c300 Mon Sep 17 00:00:00 2001
From: x-io Technologies <social@x-io.co.uk>
Date: Mon, 29 Apr 2024 21:18:46 +0100
Subject: [PATCH] Fix double promotion

---
 Fusion/FusionAhrs.c   | 4 ++--
 Fusion/FusionOffset.c | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Fusion/FusionAhrs.c b/Fusion/FusionAhrs.c
index 28327de..661e6e8 100644
--- a/Fusion/FusionAhrs.c
+++ b/Fusion/FusionAhrs.c
@@ -10,7 +10,7 @@
 
 #include <float.h> // FLT_MAX
 #include "FusionAhrs.h"
-#include <math.h> // atan2f, cosf, powf, sinf
+#include <math.h> // atan2f, cosf, fabsf, powf, sinf
 
 //------------------------------------------------------------------------------
 // Definitions
@@ -117,7 +117,7 @@ void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, cons
     ahrs->accelerometer = accelerometer;
 
     // Reinitialise if gyroscope range exceeded
-    if ((fabs(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabs(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) || (fabs(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
+    if ((fabsf(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
         const FusionQuaternion quaternion = ahrs->quaternion;
         FusionAhrsReset(ahrs);
         ahrs->quaternion = quaternion;
diff --git a/Fusion/FusionOffset.c b/Fusion/FusionOffset.c
index b21794d..a037e1e 100644
--- a/Fusion/FusionOffset.c
+++ b/Fusion/FusionOffset.c
@@ -9,7 +9,7 @@
 // Includes
 
 #include "FusionOffset.h"
-#include <math.h> // fabs
+#include <math.h> // fabsf
 
 //------------------------------------------------------------------------------
 // Definitions
@@ -57,7 +57,7 @@ FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyrosco
     gyroscope = FusionVectorSubtract(gyroscope, offset->gyroscopeOffset);
 
     // Reset timer if gyroscope not stationary
-    if ((fabs(gyroscope.axis.x) > THRESHOLD) || (fabs(gyroscope.axis.y) > THRESHOLD) || (fabs(gyroscope.axis.z) > THRESHOLD)) {
+    if ((fabsf(gyroscope.axis.x) > THRESHOLD) || (fabsf(gyroscope.axis.y) > THRESHOLD) || (fabsf(gyroscope.axis.z) > THRESHOLD)) {
         offset->timer = 0;
         return gyroscope;
     }