diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index 8bc85f1833..c26904ea4d 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -510,8 +510,8 @@ void autopilot_check_in_flight(bool_t motors_on)
     if (autopilot_in_flight_counter > 0) {
       /* probably in_flight if thrust, speed and accel above IN_FLIGHT_MIN thresholds */
       if ((stabilization_cmd[COMMAND_THRUST] <= AUTOPILOT_IN_FLIGHT_MIN_THRUST) &&
-          (abs(stateGetSpeedNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_SPEED) &&
-          (abs(stateGetAccelNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_ACCEL)) {
+          (fabsf(stateGetSpeedNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_SPEED) &&
+          (fabsf(stateGetAccelNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_ACCEL)) {
         autopilot_in_flight_counter--;
         if (autopilot_in_flight_counter == 0) {
           autopilot_in_flight = FALSE;
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
index d3ad24ce01..7a55bb450c 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
@@ -267,7 +267,7 @@ void stabilization_attitude_read_rc_setpoint_eulers_f(struct FloatEulers *sp, bo
       //Take v = 9.81/1.3 m/s
       float omega;
       const float max_phi = RadOfDeg(85.0);
-      if (abs(sp->phi) < max_phi) {
+      if (fabsf(sp->phi) < max_phi) {
         omega = 1.3 * tanf(sp->phi);
       } else { //max 60 degrees roll, then take constant omega
         omega = 1.3 * 1.72305 * ((sp->phi > 0) - (sp->phi < 0));
diff --git a/sw/simulator/nps/nps_main.c b/sw/simulator/nps/nps_main.c
index 625ab71e11..0c92fdc9b4 100644
--- a/sw/simulator/nps/nps_main.c
+++ b/sw/simulator/nps/nps_main.c
@@ -191,7 +191,7 @@ void nps_set_time_factor(float time_factor)
   if (time_factor < 0.0 || time_factor > 100.0) {
     return;
   }
-  if (abs(nps_main.host_time_factor - time_factor) < 0.01) {
+  if (fabs(nps_main.host_time_factor - time_factor) < 0.01) {
     return;
   }