diff --git a/lib/main/MAVLink/mavlink_conversions.h b/lib/main/MAVLink/mavlink_conversions.h
index a99c541426..43462381f4 100644
--- a/lib/main/MAVLink/mavlink_conversions.h
+++ b/lib/main/MAVLink/mavlink_conversions.h
@@ -9,9 +9,7 @@
 #endif
 #include <math.h>
 
-#ifndef M_PI_2
-    #define M_PI_2 ((float)asin(1))
-#endif
+#define MAVLINK_EPS (0.001f)
 
 /**
  * @file mavlink_conversions.h
@@ -70,12 +68,12 @@ MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, flo
     float phi, theta, psi;
     theta = asinf(-dcm[2][0]);
 
-    if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) {
+    if (fabsf(theta - M_PIf / 2.0f) < MAVLINK_EPS) {
         phi = 0.0f;
         psi = (atan2f(dcm[1][2] - dcm[0][1],
                 dcm[0][2] + dcm[1][1]) + phi);
 
-    } else if (fabsf(theta + (float)M_PI_2) < 1.0e-3f) {
+    } else if (fabsf(theta + M_PIf / 2.0f) < MAVLINK_EPS) {
         phi = 0.0f;
         psi = atan2f(dcm[1][2] - dcm[0][1],
                   dcm[0][2] + dcm[1][1] - phi);
diff --git a/lib/main/google/olc/olc.c b/lib/main/google/olc/olc.c
index df12775727..a4016bd74b 100644
--- a/lib/main/google/olc/olc.c
+++ b/lib/main/google/olc/olc.c
@@ -106,8 +106,8 @@ int OLC_Encode(const OLC_LatLon* location, size_t length, char* code,
   // floating point operations.
   long long int lat_val = kLatMaxDegrees * 2.5e7;
   long long int lng_val = kLonMaxDegrees * 8.192e6;
-  lat_val += latitude * 2.5e7;
-  lng_val += longitude * 8.192e6;
+  lat_val += latitude * 2.5e7f;
+  lng_val += longitude * 8.192e6f;
 
   size_t pos = kMaximumDigitCount;
   // Compute the grid part of the code if necessary.
@@ -202,7 +202,7 @@ int OLC_Shorten(const char* code, size_t size, const OLC_LatLon* reference,
 
   // Yes, magic numbers... sob.
   int start = 0;
-  const double safety_factor = 0.3;
+  const double safety_factor = 0.3f;
   const int removal_lengths[3] = {8, 6, 4};
   for (int j = 0; j < sizeof(removal_lengths) / sizeof(removal_lengths[0]);
        ++j) {
@@ -255,10 +255,10 @@ int OLC_RecoverNearest(const char* short_code, size_t size,
   }
 
   // The resolution (height and width) of the padded area in degrees.
-  double resolution = pow_neg(kEncodingBase, 2.0 - (padding_length / 2.0));
+  double resolution = pow_neg(kEncodingBase, 2.0f - (padding_length / 2.0f));
 
   // Distance from the center to an edge (in degrees).
-  double half_res = resolution / 2.0;
+  double half_res = resolution / 2.0f;
 
   // Use the reference location to pad the supplied short code and decode it.
   OLC_LatLon latlon = {lat, lon};
diff --git a/lib/main/google/olc/olc_private.h b/lib/main/google/olc/olc_private.h
index 2c00edcdf3..0ca45d5439 100644
--- a/lib/main/google/olc/olc_private.h
+++ b/lib/main/google/olc/olc_private.h
@@ -38,9 +38,9 @@ static const size_t kSeparatorPosition = 8;
 static const size_t kPairPrecisionInverse = 8000;
 // Inverse (1/) of the precision of the final grid digits in degrees.
 // Latitude is kEncodingBase^3 * kGridRows^kGridCodeLength
-static const size_t kGridLatPrecisionInverse = 2.5e7;
+static const size_t kGridLatPrecisionInverse = 2.5e7f;
 // Longitude is kEncodingBase^3 * kGridColumns^kGridCodeLength
-static const size_t kGridLonPrecisionInverse = 8.192e6;
+static const size_t kGridLonPrecisionInverse = 8.192e6f;
 // Latitude bounds are -kLatMaxDegrees degrees and +kLatMaxDegrees degrees
 // which we transpose to 0 and 180 degrees.
 static const double kLatMaxDegrees = OLC_kLatMaxDegrees;
diff --git a/src/main/drivers/barometer/barometer_qmp6988.c b/src/main/drivers/barometer/barometer_qmp6988.c
index 6369891185..cca0fa78f4 100644
--- a/src/main/drivers/barometer/barometer_qmp6988.c
+++ b/src/main/drivers/barometer/barometer_qmp6988.c
@@ -243,22 +243,22 @@ bool qmp6988Detect(baroDev_t *baro)
     else
         Coe_a0_ = temp2;
 
-    qmp6988_cal.Coe_a0=(float)Coe_a0_/16.0;
-    qmp6988_cal.Coe_a1=(-6.30E-03)+(4.30E-04)*(float)Coe_a1_/32767.0;
-    qmp6988_cal.Coe_a2=(-1.9E-11)+(1.2E-10)*(float)Coe_a2_/32767.0;
+    qmp6988_cal.Coe_a0 = (float)Coe_a0_/16.0f;
+    qmp6988_cal.Coe_a1 = (-6.30E-03f)+(4.30E-04f)*(float)Coe_a1_/32767.0f;
+    qmp6988_cal.Coe_a2 = (-1.9E-11f)+(1.2E-10f)*(float)Coe_a2_/32767.0f;
 
-    qmp6988_cal.Coe_b00 = Coe_b00_/16.0;
-    qmp6988_cal.Coe_bt1 = (1.00E-01)+(9.10E-02)*(float)Coe_bt1_/32767.0;
-    qmp6988_cal.Coe_bt2= (1.20E-08)+(1.20E-06)*(float)Coe_bt2_/32767.0;
+    qmp6988_cal.Coe_b00 = Coe_b00_/16.0f;
+    qmp6988_cal.Coe_bt1 = (1.00E-01f)+(9.10E-02f)*(float)Coe_bt1_/32767.0f;
+    qmp6988_cal.Coe_bt2 = (1.20E-08f)+(1.20E-06f)*(float)Coe_bt2_/32767.0f;
 
-    qmp6988_cal.Coe_bp1 = (3.30E-02)+(1.90E-02)*(float)Coe_bp1_/32767.0;
-    qmp6988_cal.Coe_b11= (2.10E-07)+(1.40E-07)*(float)Coe_b11_/32767.0;
+    qmp6988_cal.Coe_bp1 = (3.30E-02f)+(1.90E-02f)*(float)Coe_bp1_/32767.0f;
+    qmp6988_cal.Coe_b11 = (2.10E-07f)+(1.40E-07f)*(float)Coe_b11_/32767.0f;
 
-    qmp6988_cal.Coe_bp2 = (-6.30E-10)+(3.50E-10)*(float)Coe_bp2_/32767.0;
-    qmp6988_cal.Coe_b12= (2.90E-13)+(7.60E-13)*(float)Coe_b12_/32767.0;
+    qmp6988_cal.Coe_bp2 = (-6.30E-10f)+(3.50E-10f)*(float)Coe_bp2_/32767.0f;
+    qmp6988_cal.Coe_b12 = (2.90E-13f)+(7.60E-13f)*(float)Coe_b12_/32767.0f;
 
-    qmp6988_cal.Coe_b21 = (2.10E-15)+(1.20E-14)*(float)Coe_b21_/32767.0;
-    qmp6988_cal.Coe_bp3= (1.30E-16)+(7.90E-17)*(float)Coe_bp3_/32767.0;
+    qmp6988_cal.Coe_b21 = (2.10E-15f)+(1.20E-14f)*(float)Coe_b21_/32767.0f;
+    qmp6988_cal.Coe_bp3 = (1.30E-16f)+(7.90E-17f)*(float)Coe_bp3_/32767.0f;
 
     // Set power mode and sample times
     busWriteRegister(dev, QMP6988_CTRL_MEAS_REG, QMP6988_PWR_SAMPLE_MODE);
diff --git a/src/main/drivers/rx/rx_sx127x.c b/src/main/drivers/rx/rx_sx127x.c
index 96616b4696..bd0fde5c0f 100644
--- a/src/main/drivers/rx/rx_sx127x.c
+++ b/src/main/drivers/rx/rx_sx127x.c
@@ -305,25 +305,25 @@ uint32_t sx127xGetCurrBandwidth(const sx127xBandwidth_e bw)
 {
     switch (bw) {
     case SX127x_BW_7_80_KHZ:
-        return 7.8E3;
+        return 7.8E3f;
     case SX127x_BW_10_40_KHZ:
-        return 10.4E3;
+        return 10.4E3f;
     case SX127x_BW_15_60_KHZ:
-        return 15.6E3;
+        return 15.6E3f;
     case SX127x_BW_20_80_KHZ:
-        return 20.8E3;
+        return 20.8E3f;
     case SX127x_BW_31_25_KHZ:
-        return 31.25E3;
+        return 31.25E3f;
     case SX127x_BW_41_70_KHZ:
-        return 41.7E3;
+        return 41.7E3f;
     case SX127x_BW_62_50_KHZ:
-        return 62.5E3;
+        return 62.5E3f;
     case SX127x_BW_125_00_KHZ:
-        return 125E3;
+        return 125E3f;
     case SX127x_BW_250_00_KHZ:
-        return 250E3;
+        return 250E3f;
     case SX127x_BW_500_00_KHZ:
-        return 500E3;
+        return 500E3f;
     }
     return -1;
 }
diff --git a/src/main/drivers/rx/rx_sx127x.h b/src/main/drivers/rx/rx_sx127x.h
index 0a0921657c..dab23f0562 100644
--- a/src/main/drivers/rx/rx_sx127x.h
+++ b/src/main/drivers/rx/rx_sx127x.h
@@ -292,7 +292,7 @@ typedef enum {
 
 #define SX127x_MAX_POWER 0x0F //17dBm
 
-#define SX127x_FREQ_STEP 61.03515625
+#define SX127x_FREQ_STEP (61.03515625) // 61.03515625 Hz, used for frequency calculations
 
 #define SX127x_FREQ_CORRECTION_MAX ((int32_t)(100000 / SX127x_FREQ_STEP))
 #define SX127x_FREQ_CORRECTION_MIN ((int32_t)(-100000 / SX127x_FREQ_STEP))
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 4cdcc4ba77..66784078c4 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -600,7 +600,7 @@ void tryArm(void)
         resetMaxFFT();
 #endif
 
-        disarmAt = currentTimeUs + armingConfig()->auto_disarm_delay * 1e6;   // start disarm timeout, will be extended when throttle is nonzero
+        disarmAt = currentTimeUs + armingConfig()->auto_disarm_delay * 1000 * 1000;   // start disarm timeout, will be extended when throttle is nonzero
 
         lastArmingDisabledReason = 0;
 
@@ -926,7 +926,7 @@ void processRxModes(timeUs_t currentTimeUs)
     // When armed and motors aren't spinning, do beeps and then disarm
     // board after delay so users without buzzer won't lose fingers.
     // mixTable constrains motor commands, so checking  throttleStatus is enough
-    const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6;
+    const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6f;
     if (ARMING_FLAG(ARMED)
         && featureIsEnabled(FEATURE_MOTOR_STOP)
         && !isFixedWing()
@@ -1019,7 +1019,7 @@ void processRxModes(timeUs_t currentTimeUs)
 
 #ifdef USE_ALTITUDE_HOLD
     // only if armed; can coexist with position hold
-    if (ARMING_FLAG(ARMED) 
+    if (ARMING_FLAG(ARMED)
         // and not in GPS_RESCUE_MODE, to give it priority over Altitude Hold
         && !FLIGHT_MODE(GPS_RESCUE_MODE)
         // and either the alt_hold switch is activated, or are in failsafe landing mode
@@ -1040,7 +1040,7 @@ void processRxModes(timeUs_t currentTimeUs)
 
 #ifdef USE_POSITION_HOLD
     // only if armed; can coexist with altitude hold
-    if (ARMING_FLAG(ARMED) 
+    if (ARMING_FLAG(ARMED)
         // and not in GPS_RESCUE_MODE, to give it priority over Position Hold
         && !FLIGHT_MODE(GPS_RESCUE_MODE)
         // and either the alt_hold switch is activated, or are in failsafe landing mode
@@ -1254,7 +1254,7 @@ static FAST_CODE_NOINLINE void subTaskPidSubprocesses(timeUs_t currentTimeUs)
 }
 
 #ifdef USE_TELEMETRY
-#define GYRO_TEMP_READ_DELAY_US 3e6    // Only read the gyro temp every 3 seconds
+#define GYRO_TEMP_READ_DELAY_US (3 * 1000 * 1000)    // Only read the gyro temp every 3 seconds
 void subTaskTelemetryPollSensors(timeUs_t currentTimeUs)
 {
     static timeUs_t lastGyroTempTimeUs = 0;
diff --git a/src/main/fc/rc.c b/src/main/fc/rc.c
index 16216ad695..0e00907c5a 100644
--- a/src/main/fc/rc.c
+++ b/src/main/fc/rc.c
@@ -263,8 +263,8 @@ static void scaleRawSetpointToFpvCamAngle(void)
 {
     //recalculate sin/cos only when rxConfig()->fpvCamAngleDegrees changed
     static uint8_t lastFpvCamAngleDegrees = 0;
-    static float cosFactor = 1.0;
-    static float sinFactor = 0.0;
+    static float cosFactor = 1.0f;
+    static float sinFactor = 0.0f;
 
     if (lastFpvCamAngleDegrees != rxConfig()->fpvCamAngleDegrees) {
         lastFpvCamAngleDegrees = rxConfig()->fpvCamAngleDegrees;
diff --git a/src/main/fc/rc_modes.c b/src/main/fc/rc_modes.c
index 03d7433aa6..68dbce9664 100644
--- a/src/main/fc/rc_modes.c
+++ b/src/main/fc/rc_modes.c
@@ -44,7 +44,7 @@
 
 #include "rc_modes.h"
 
-#define STICKY_MODE_BOOT_DELAY_US 5e6
+#define STICKY_MODE_BOOT_DELAY_US (5 * 1000 * 1000)
 
 boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
 static boxBitmask_t stickyModesEverDisabled;
diff --git a/src/main/flight/mixer_init.c b/src/main/flight/mixer_init.c
index e1d0eafe39..2b0b05caf6 100644
--- a/src/main/flight/mixer_init.c
+++ b/src/main/flight/mixer_init.c
@@ -371,7 +371,7 @@ void mixerInitProfile(void)
     mixerRuntime.rpmLimiterPGain = mixerConfig()->rpm_limit_p * 15e-6f;
     mixerRuntime.rpmLimiterIGain = mixerConfig()->rpm_limit_i * 1e-3f * pidGetDT();
     mixerRuntime.rpmLimiterDGain = mixerConfig()->rpm_limit_d * 3e-7f * pidGetPidFrequency();
-    mixerRuntime.rpmLimiterI = 0.0;
+    mixerRuntime.rpmLimiterI = 0.0f;
     pt1FilterInit(&mixerRuntime.rpmLimiterAverageRpmFilter, pt1FilterGain(6.0f, pidGetDT()));
     pt1FilterInit(&mixerRuntime.rpmLimiterThrottleScaleOffsetFilter, pt1FilterGain(2.0f, pidGetDT()));
     mixerResetRpmLimiter();
@@ -385,7 +385,7 @@ void mixerInitProfile(void)
 #ifdef USE_RPM_LIMIT
 void mixerResetRpmLimiter(void)
 {
-    mixerRuntime.rpmLimiterI = 0.0;
+    mixerRuntime.rpmLimiterI = 0.0f;
     mixerRuntime.rpmLimiterThrottleScale = constrainf(mixerRuntime.rpmLimiterRpmLimit / motorEstimateMaxRpm(), 0.0f, 1.0f);
     mixerRuntime.rpmLimiterInitialThrottleScale = mixerRuntime.rpmLimiterThrottleScale;
 }
diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 74917f1c87..8c2e977205 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -105,7 +105,7 @@ static uint8_t previousProfileColorIndex = COLOR_UNDEFINED;
 // Decay the estimated max task duration by 1/(1 << LED_EXEC_TIME_SHIFT) on every invocation
 #define LED_EXEC_TIME_SHIFT             7
 
-#define PROFILE_COLOR_UPDATE_INTERVAL_US 1e6  // normally updates when color changes but this is a 1 second forced update
+#define PROFILE_COLOR_UPDATE_INTERVAL_US 1e6f  // normally updates when color changes but this is a 1 second forced update
 
 #define VISUAL_BEEPER_COLOR COLOR_WHITE
 
diff --git a/src/main/osd/osd.c b/src/main/osd/osd.c
index 6825191585..def69175a6 100644
--- a/src/main/osd/osd.c
+++ b/src/main/osd/osd.c
@@ -1196,7 +1196,7 @@ static timeDelta_t osdShowArmed(void)
         uint8_t midRow = osdDisplayPort->rows / 2;
         uint8_t midCol = osdDisplayPort->cols / 2;
         osdDrawLogo(midCol - (OSD_LOGO_COLS) / 2, midRow - 5, osdConfig()->arming_logo);
-        ret = osdConfig()->logo_on_arming_duration * 1e5;
+        ret = osdConfig()->logo_on_arming_duration * 100 * 1000; // convert to microseconds
     } else {
         ret = (REFRESH_1S / 2);
     }
diff --git a/src/main/osd/osd_elements.c b/src/main/osd/osd_elements.c
index da59d7fae1..f0a79da516 100644
--- a/src/main/osd/osd_elements.c
+++ b/src/main/osd/osd_elements.c
@@ -799,7 +799,7 @@ static void osdElementUpDownReference(osdElementParms_t *element)
         char *symbol[2] = {"U", "D"}; // character buffer
         int direction;
 
-        if(attitude.values.pitch>0.0){ //nose down
+        if (attitude.values.pitch > 0.0f){ //nose down
             thetaB = -earthUpinBodyFrame[2]; // get pitch w/re to nadir (use small angle approx for sine)
             psiB = -earthUpinBodyFrame[1]; // calculate the yaw w/re to nadir (use small angle approx for sine)
             direction = DOWN;
@@ -1589,7 +1589,7 @@ static void osdElementRemainingTimeEstimate(osdElementParms_t *element)
         element->attr = DISPLAYPORT_SEVERITY_CRITICAL;
     }
 
-    if (mAhDrawn <= 0.1 * osdConfig()->cap_alarm) {  // also handles the mAhDrawn == 0 condition
+    if (mAhDrawn <= 0.1f * osdConfig()->cap_alarm) {  // also handles the mAhDrawn == 0 condition
         tfp_sprintf(element->buff, "--:--");
     } else if (mAhDrawn > osdConfig()->cap_alarm) {
         tfp_sprintf(element->buff, "00:00");
diff --git a/src/main/rx/expresslrs_common.h b/src/main/rx/expresslrs_common.h
index cbeadd0ba2..be3f25e2bb 100644
--- a/src/main/rx/expresslrs_common.h
+++ b/src/main/rx/expresslrs_common.h
@@ -52,7 +52,7 @@
 #define ELRS_MODELMATCH_MASK 0x3F
 
 #define FREQ_HZ_TO_REG_VAL_900(freq) ((uint32_t)(freq / SX127x_FREQ_STEP))
-#define FREQ_HZ_TO_REG_VAL_24(freq) ((uint32_t)(freq / SX1280_FREQ_STEP))
+#define FREQ_HZ_TO_REG_VAL_24(freq)  ((uint32_t)(freq / SX1280_FREQ_STEP))
 
 #define ELRS_RATE_MAX_24  6
 #define ELRS_RATE_MAX_900 4
diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c
index 70a947a666..45ab1465ec 100644
--- a/src/main/scheduler/scheduler.c
+++ b/src/main/scheduler/scheduler.c
@@ -667,7 +667,7 @@ FAST_CODE void scheduler(void)
                         minGyroPeriod = gyroCyclesNow;
                     }
                     // Crude detection of missed cycles caused by configurator traffic
-                    if ((gyroCyclesNow > maxGyroPeriod) && (gyroCyclesNow < (1.5 * minGyroPeriod))) {
+                    if ((gyroCyclesNow > maxGyroPeriod) && (gyroCyclesNow < minGyroPeriod + minGyroPeriod / 2)) {  // 1.5 * minGyroPeriod
                         maxGyroPeriod = gyroCyclesNow;
                     }
                 }
diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h
index 8728c16b26..e9e55c9c62 100644
--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@@ -52,8 +52,8 @@
 
 #define TASK_AGE_EXPEDITE_RX            schedulerConfig()->rxRelaxDeterminism  // Make RX tasks more schedulable if it's failed to be scheduled this many times
 #define TASK_AGE_EXPEDITE_OSD           schedulerConfig()->osdRelaxDeterminism  // Make OSD tasks more schedulable if it's failed to be scheduled this many times
-#define TASK_AGE_EXPEDITE_COUNT         1   // Make aged tasks more schedulable
-#define TASK_AGE_EXPEDITE_SCALE         0.9 // By scaling their expected execution time
+#define TASK_AGE_EXPEDITE_COUNT         1    // Make aged tasks more schedulable
+#define TASK_AGE_EXPEDITE_SCALE         0.9f // By scaling their expected execution time
 
 // Gyro interrupt counts over which to measure loop time and skew
 #define GYRO_RATE_COUNT 25000
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 43e7463a66..9a328eff6e 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -242,7 +242,7 @@ void batteryUpdatePresence(void)
         batteryCriticalVoltage = 0;
         batteryWarningHysteresisVoltage = 0;
         batteryCriticalHysteresisVoltage = 0;
-        wattHoursDrawn = 0.0;
+        wattHoursDrawn = 0.0f;
     }
 }
 
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 281aa27ba7..a293c2d611 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -376,7 +376,7 @@ bool compassInit(void)
     if (magDev.magOdrHz) {
         // For Mags that send data at a fixed ODR, we wait some quiet period after a read before checking for new data
         // allow two re-check intervals, plus a margin for clock variations in mag vs FC
-        uint16_t odrInterval = 1e6 / magDev.magOdrHz;
+        uint16_t odrInterval = (1000 * 1000) / magDev.magOdrHz;
         compassReadIntervalUs =  odrInterval - (2 * COMPASS_RECHECK_INTERVAL_US) - (odrInterval / 20);
     } else {
         // Mags which have no specified ODR will be pinged at the compass task rate
@@ -522,7 +522,7 @@ uint32_t compassUpdate(timeUs_t currentTimeUs)
         static timeUs_t previousTimeUs = 0;
         const timeDelta_t dataIntervalUs = cmpTimeUs(currentTimeUs, previousTimeUs); // time since last data received
         previousTimeUs = currentTimeUs;
-        const uint16_t actualCompassDataRateHz = 1e6 / dataIntervalUs;
+        const uint16_t actualCompassDataRateHz = 1e6f / dataIntervalUs;
         timeDelta_t executeTimeUs = micros() - currentTimeUs;
         DEBUG_SET(DEBUG_MAG_TASK_RATE, 0, TASK_COMPASS_RATE_HZ);
         DEBUG_SET(DEBUG_MAG_TASK_RATE, 1, actualCompassDataRateHz);
diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index 497f29e75a..ea775648d1 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -413,7 +413,7 @@ static void mavlinkSendHUDAndHeartbeat(void)
     }
 #endif
 
-    mavAltitude = getEstimatedAltitudeCm() / 100.0;
+    mavAltitude = getEstimatedAltitudeCm() / 100.0f;
 
     mavlink_msg_vfr_hud_pack(0, 200, &mavMsg,
         // airspeed Current airspeed in m/s
diff --git a/src/platform/APM32/mk/APM32F4.mk b/src/platform/APM32/mk/APM32F4.mk
index 8bdb4b6cf7..508d4f95a7 100644
--- a/src/platform/APM32/mk/APM32F4.mk
+++ b/src/platform/APM32/mk/APM32F4.mk
@@ -127,7 +127,7 @@ INCLUDE_DIRS += \
         $(SRC_DIR)/msc
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
 
 DEVICE_FLAGS    = -DUSE_DAL_DRIVER -DHSE_VALUE=$(HSE_VALUE) -DAPM32
 
diff --git a/src/platform/AT32/mk/AT32F4.mk b/src/platform/AT32/mk/AT32F4.mk
index f78c4671c9..4fc8e30726 100644
--- a/src/platform/AT32/mk/AT32F4.mk
+++ b/src/platform/AT32/mk/AT32F4.mk
@@ -78,7 +78,7 @@ else
 LD_SCRIPT       = $(LINKER_DIR)/at32_flash_f43xg.ld
 endif
 
-ARCH_FLAGS      = -std=c99  -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
+ARCH_FLAGS      = -std=c99 -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
 DEVICE_FLAGS   += -DUSE_ATBSP_DRIVER -DAT32F43x -DHSE_VALUE=$(HSE_VALUE) -DAT32 -DUSE_OTG_HOST_MODE
 
 MCU_COMMON_SRC = \
diff --git a/src/platform/SIMULATOR/sitl.c b/src/platform/SIMULATOR/sitl.c
index 2fc992cb45..638f799d00 100644
--- a/src/platform/SIMULATOR/sitl.c
+++ b/src/platform/SIMULATOR/sitl.c
@@ -425,8 +425,7 @@ uint64_t micros64(void)
     out += (now - last) * simRate;
     last = now;
 
-    return out*1e-3;
-//    return micros64_real();
+    return out / 1000;
 }
 
 uint64_t millis64(void)
@@ -438,8 +437,7 @@ uint64_t millis64(void)
     out += (now - last) * simRate;
     last = now;
 
-    return out*1e-6;
-//    return millis64_real();
+    return out / (1000 * 1000);
 }
 
 uint32_t micros(void)
diff --git a/src/platform/STM32/mk/STM32F4.mk b/src/platform/STM32/mk/STM32F4.mk
index aa4b1d6249..adadafd80c 100644
--- a/src/platform/STM32/mk/STM32F4.mk
+++ b/src/platform/STM32/mk/STM32F4.mk
@@ -150,7 +150,7 @@ DEVICE_FLAGS += -DUSE_STDPERIPH_DRIVER
 endif
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
 
 ifeq ($(TARGET_MCU),STM32F411xE)
 DEVICE_FLAGS    += -DSTM32F411xE -finline-limit=20
diff --git a/src/platform/STM32/mk/STM32F7.mk b/src/platform/STM32/mk/STM32F7.mk
index 90c3291cec..0e90ff10a0 100644
--- a/src/platform/STM32/mk/STM32F7.mk
+++ b/src/platform/STM32/mk/STM32F7.mk
@@ -97,7 +97,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(TARGET_PLATFORM_DIR)/vcp_hal
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16
 
 # Flags that are used in the STM32 libraries
 DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER
diff --git a/src/platform/STM32/mk/STM32G4.mk b/src/platform/STM32/mk/STM32G4.mk
index 0706aff8fd..57e8dc51bd 100644
--- a/src/platform/STM32/mk/STM32G4.mk
+++ b/src/platform/STM32/mk/STM32G4.mk
@@ -90,7 +90,7 @@ INCLUDE_DIRS    := \
             $(TARGET_PLATFORM_DIR)/vcp_hal
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
 
 DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DUSE_DMA_RAM -DMAX_MPU_REGIONS=16
 
diff --git a/src/platform/STM32/mk/STM32H5.mk b/src/platform/STM32/mk/STM32H5.mk
index a9080ba2ed..d708a4eb88 100644
--- a/src/platform/STM32/mk/STM32H5.mk
+++ b/src/platform/STM32/mk/STM32H5.mk
@@ -99,7 +99,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(TARGET_PLATFORM_DIR)/vcp_hal
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16
 
 # Flags that are used in the STM32 libraries
 DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER
diff --git a/src/platform/STM32/mk/STM32H7.mk b/src/platform/STM32/mk/STM32H7.mk
index 7d192ff057..4a5c371d77 100644
--- a/src/platform/STM32/mk/STM32H7.mk
+++ b/src/platform/STM32/mk/STM32H7.mk
@@ -103,7 +103,7 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(TARGET_PLATFORM_DIR)/vcp_hal
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16
 
 # Flags that are used in the STM32 libraries
 DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER