To quote the C++ standard, §3.9.1 ¶8:

There are three floating point types: float, double, and long double. The type double provides at least as much precision as float, and the type long double provides at least as much precision as double. The set of values of the type float is a subset of the set of values of the type double; the set of values of the type double is a subset of the set of values of the type long double. The value representation of floating-point types is implementation-defined. Integral and floating types are collectively called arithmetic types. Specializations of the standard template std::numeric_limits (18.3) shall specify the maximum and minimum values of each arithmetic type for an implementation.

That is to say that double takes at least as much memory for its representation as float and long double at least as much as double. That extra memory is used for more precise representation of a number.

On x86 systems, float is typically 4 bytes long and can store numbers as large as about 3×10³⁸ and about as small as 1.4×10⁻⁴⁵. It is an IEEE 754 single-precision number that stores about 7 decimal digits of a fractional number.

Also on x86 systems, double is 8 bytes long and can store numbers in the IEEE 754 double-precision format, which has a much larger range and stores numbers with more precision, about 15 decimal digits. On some other platforms, double may not be 8 bytes long and may indeed be the same as a single-precision float.

The standard only requires that long double is at least as precise as double, so some compilers will simply treat long double as if it is the same as double. But, on most x86 chips, the 10-byte extended precision format 80-bit number is available through the CPU's floating-point unit, which provides even more precision than 64-bit double, with about 21 decimal digits of precision.

Some compilers instead support a 16-byte (128-bit) IEEE 754 quadruple precision number format with yet more precise representations and a larger range.

You're using the wrong format specifier to printf.

The %d format specifier expects an int argument, but you're passing a double. Using the wrong format specifier invokes undefined behavior.

To print a double, use %f.

printf("average: %f\n", average);

For variable argument functions like printf and scanf, the arguments are promoted, for example, any smaller integer types are promoted to int, float is promoted to double.

scanf takes parameters of pointers, so the promotion rule takes no effect. It must use %f for float* and %lf for double*.

printf will never see a float argument, float is always promoted to double. The format specifier is %f. But C99 also says %lf is the same as %f in printf:

C99 §7.19.6.1 The fprintf function

l (ell) Specifies that a following d, i, o, u, x, or X conversion specifier applies to a long int or unsigned long int argument; that a following n conversion specifier applies to a pointer to a long int argument; that a following c conversion specifier applies to a wint_t argument; that a following s conversion specifier applies to a pointer to a wchar_t argument; or has no effect on a following a, A, e, E, f, F, g, or G conversion specifier.

Use the %lf format specifier to read a double:

double a;
scanf("%lf",&a);

Wikipedia has a decent reference for available format specifiers.

You'll need to use the %lf format specifier to print out the results as well:

printf("%lf %lf",a,b);

"%f" is the (or at least one) correct format for a double. There is no format for a float, because if you attempt to pass a float to printf, it'll be promoted to double before printf receives it¹. "%lf" is also acceptable under the current standard -- the l is specified as having no effect if followed by the f conversion specifier (among others).

Note that this is one place that printf format strings differ substantially from scanf (and fscanf, etc.) format strings. For output, you're passing a value, which will be promoted from float to double when passed as a variadic parameter. For input you're passing a pointer, which is not promoted, so you have to tell scanf whether you want to read a float or a double, so for scanf, %f means you want to read a float and %lf means you want to read a double (and, for what it's worth, for a long double, you use %Lf for either printf or scanf).

1. C99, §6.5.2.2/6: "If the expression that denotes the called function has a type that does not include a prototype, the integer promotions are performed on each argument, and arguments that have type float are promoted to double. These are called the default argument promotions." In C++ the wording is somewhat different (e.g., it doesn't use the word "prototype") but the effect is the same: all the variadic parameters undergo default promotions before they're received by the function.