diff --git a/board/safety/safety_toyota_ipas.h b/board/safety/safety_toyota_ipas.h
index 0ef74f005c7d8e..b2110bad125070 100644
--- a/board/safety/safety_toyota_ipas.h
+++ b/board/safety/safety_toyota_ipas.h
@@ -92,8 +92,8 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
     // *** angle real time check
     // add 1 to not false trigger the violation and multiply by 20 since the check is done every 250ms and steer angle is updated at 80Hz
-    int rt_delta_angle_up = ((int)(RT_ANGLE_FUDGE * (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * 20. * CAN_TO_DEG + 1.)));
-    int rt_delta_angle_down = ((int)(RT_ANGLE_FUDGE * (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * 20. * CAN_TO_DEG + 1.)));
+    int rt_delta_angle_up = ((int)(RT_ANGLE_FUDGE * (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * 20.0f * CAN_TO_DEG + 1.0f)));
+    int rt_delta_angle_down = ((int)(RT_ANGLE_FUDGE * (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * 20.0f * CAN_TO_DEG + 1.0f)));
     int highest_rt_angle = rt_angle_last + (rt_angle_last > 0? rt_delta_angle_up:rt_delta_angle_down);
     int lowest_rt_angle = rt_angle_last - (rt_angle_last > 0? rt_delta_angle_down:rt_delta_angle_up);
 
@@ -116,7 +116,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // get speed
   if ((to_push->RIR>>21) == 0xb4) {
-    speed = ((float) (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF))) * 0.01 / 3.6;
+    speed = ((float) (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF))) * 0.01f / 3.6f;
   }
 
   // get ipas state
@@ -149,8 +149,8 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
       if (controls_allowed) {
         // add 1 to not false trigger the violation
-        int delta_angle_up = (int) (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * CAN_TO_DEG + 1.);
-        int delta_angle_down = (int) (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG + 1.);
+        int delta_angle_up = (int) (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * CAN_TO_DEG + 1.0f);
+        int delta_angle_down = (int) (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG + 1.0f);
         int highest_desired_angle = desired_angle_last + (desired_angle_last > 0? delta_angle_up:delta_angle_down);
         int lowest_desired_angle = desired_angle_last - (desired_angle_last > 0? delta_angle_down:delta_angle_up);
         if ((desired_angle > highest_desired_angle) ||