diff --git a/src/xrt/auxiliary/math/m_imu_3dof.c b/src/xrt/auxiliary/math/m_imu_3dof.c
index 0a8849a8b..2c0cca19f 100644
--- a/src/xrt/auxiliary/math/m_imu_3dof.c
+++ b/src/xrt/auxiliary/math/m_imu_3dof.c
@@ -150,15 +150,15 @@ gravity_correction(struct m_imu_3dof *f,
 
 	if (f->grav.error_angle > min_tilt_error) {
 		// Correct 180° over 5 seconds, when moving.
-		float max_radians = M_PI * dt / 5;
+		float max_radians = (float)M_PI * (float)dt / 5;
 		// Correct 180° over 60 seconds, when stationary.
-		float min_radians = M_PI * dt / 60;
+		float min_radians = (float)M_PI * (float)dt / 60;
 
 		/*
 		 * We're treating 0.5 * gyro_length as a unitless scale factor.
 		 * Tested in a headset, 0.5 felt nice.
 		 */
-		float correction_radians = 0.5 * gyro_length * max_radians;
+		float correction_radians = 0.5f * gyro_length * max_radians;
 		// Clamp to the range [min_radians, max_radians]
 		correction_radians = fmaxf(min_radians, correction_radians);
 		correction_radians = fminf(max_radians, correction_radians);
@@ -221,7 +221,7 @@ m_imu_3dof_update(struct m_imu_3dof *f,
 	uint64_t diff = timestamp_ns - f->last.timestamp_ns;
 	double dt = (double)diff / DUR_1S_IN_NS;
 
-	f->last.delta_ms = dt * 1000.0;
+	f->last.delta_ms = dt * 1000.0f;
 	f->last.timestamp_ns = timestamp_ns;
 
 	m_ff_vec3_f32_push(f->word_accel_ff, &world_accel, timestamp_ns);
@@ -240,7 +240,7 @@ m_imu_3dof_update(struct m_imu_3dof *f,
 		    gyro_biased.z / gyro_biased_length,
 		};
 
-		float rot_angle = gyro_biased_length * dt;
+		float rot_angle = gyro_biased_length * (float)dt;
 
 		struct xrt_quat delta_orient;
 		math_quat_from_angle_vector(rot_angle, &rot_axis, &delta_orient);
diff --git a/src/xrt/auxiliary/math/m_optics.c b/src/xrt/auxiliary/math/m_optics.c
index 74ef5af07..29349da93 100644
--- a/src/xrt/auxiliary/math/m_optics.c
+++ b/src/xrt/auxiliary/math/m_optics.c
@@ -131,8 +131,8 @@ math_compute_fovs(double w_total,
 		return false;
 	}
 
-	fov->angle_left = -theta_1;
-	fov->angle_right = theta_2;
+	fov->angle_left = (float)-theta_1;
+	fov->angle_right = (float)theta_2;
 
 	double phi_1 = 0;
 	double phi_2 = 0;
@@ -153,8 +153,8 @@ math_compute_fovs(double w_total,
 	}
 
 	/* phi_1 is "down" so we record this as negative. */
-	fov->angle_down = phi_1 * -1.0;
-	fov->angle_up = phi_2;
+	fov->angle_down = (float)(-phi_1);
+	fov->angle_up = (float)phi_2;
 
 	return true;
 }
diff --git a/src/xrt/auxiliary/math/m_predict.c b/src/xrt/auxiliary/math/m_predict.c
index 30149f13c..d2a2f05fa 100644
--- a/src/xrt/auxiliary/math/m_predict.c
+++ b/src/xrt/auxiliary/math/m_predict.c
@@ -55,7 +55,7 @@ do_orientation(const struct xrt_space_relation *rel,
 	if (valid_orientation) {
 		math_quat_integrate_velocity(&rel->pose.orientation,      // Old orientation
 		                             &accum,                      // Angular velocity
-		                             delta_s,                     // Delta in seconds
+		                             (float)delta_s,              // Delta in seconds
 		                             &out_rel->pose.orientation); // Result
 	}
 
@@ -93,7 +93,7 @@ do_position(const struct xrt_space_relation *rel,
 	}
 
 	if (valid_position) {
-		out_rel->pose.position = m_vec3_add(rel->pose.position, m_vec3_mul_scalar(accum, delta_s));
+		out_rel->pose.position = m_vec3_add(rel->pose.position, m_vec3_mul_scalar(accum, (float)delta_s));
 	}
 
 	// We use the new linear velocity with the acceleration integrated.