diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index e6ffe645a6..3fc6170988 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -49,7 +49,7 @@ void Sub::surface_run()
     attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // set target climb rate
-    float cmb_rate = constrain_float(abs(wp_nav.get_default_speed_up()), 1, pos_control.get_max_speed_up());
+    float cmb_rate = constrain_float(fabsf(wp_nav.get_default_speed_up()), 1, pos_control.get_max_speed_up());
 
     // record desired climb rate for logging
     desired_climb_rate = cmb_rate;
diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index a2951c9665..9513644a5e 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -32,7 +32,12 @@ is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2)
         return fabs(v_1 - v_2) < std::numeric_limits<double>::epsilon();
     }
 #endif
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wabsolute-value"
+    // clang doesn't realise we catch the double case above and warns
+    // about loss of precision here.
     return fabsf(v_1 - v_2) < std::numeric_limits<float>::epsilon();
+#pragma clang diagnostic pop
 }
 
 template bool is_equal<int>(const int v_1, const int v_2);
@@ -124,60 +129,53 @@ float throttle_curve(float thr_mid, float alpha, float thr_in)
 }
 
 template <typename T>
-float wrap_180(const T angle, float unit_mod)
+T wrap_180(const T angle, T unit_mod)
 {
     auto res = wrap_360(angle, unit_mod);
-    if (res > 180.f * unit_mod) {
-        res -= 360.f * unit_mod;
+    if (res > T(180) * unit_mod) {
+        res -= T(360) * unit_mod;
     }
     return res;
 }
 
-template float wrap_180<int>(const int angle, float unit_mod);
-template float wrap_180<short>(const short angle, float unit_mod);
+template int wrap_180<int>(const int angle, int unit_mod);
+template short wrap_180<short>(const short angle, short unit_mod);
 template float wrap_180<float>(const float angle, float unit_mod);
-template float wrap_180<double>(const double angle, float unit_mod);
+#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
+template double wrap_180<double>(const double angle, double unit_mod);
+#endif
 
-template <typename T>
-auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f))
+float wrap_360(const float angle, float unit_mod)
 {
-    return wrap_180(angle, 100.f);
-}
-
-template auto wrap_180_cd<float>(const float angle) -> decltype(wrap_180(angle, 100.f));
-template auto wrap_180_cd<int>(const int angle) -> decltype(wrap_180(angle, 100.f));
-template auto wrap_180_cd<long>(const long angle) -> decltype(wrap_180(angle, 100.f));
-template auto wrap_180_cd<short>(const short angle) -> decltype(wrap_180(angle, 100.f));
-template auto wrap_180_cd<double>(const double angle) -> decltype(wrap_360(angle, 100.f));
-
-template <typename T>
-float wrap_360(const T angle, float unit_mod)
-{
-    const float ang_360 = 360.f * unit_mod;
-    float res = fmodf(static_cast<float>(angle), ang_360);
+    const auto ang_360 = float(360) * unit_mod;
+    auto res = fmodf(angle, ang_360);
     if (res < 0) {
         res += ang_360;
     }
     return res;
 }
 
-template float wrap_360<int>(const int angle, float unit_mod);
-template float wrap_360<short>(const short angle, float unit_mod);
-template float wrap_360<long>(const long angle, float unit_mod);
-template float wrap_360<float>(const float angle, float unit_mod);
-template float wrap_360<double>(const double angle, float unit_mod);
-
-template <typename T>
-auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f))
+#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
+double wrap_360(const double angle, double unit_mod)
 {
-    return wrap_360(angle, 100.f);
+    const auto ang_360 = double(360) * unit_mod;
+    auto res = fmod(angle, ang_360);
+    if (res < 0) {
+        res += ang_360;
+    }
+    return res;
 }
+#endif
 
-template auto wrap_360_cd<float>(const float angle) -> decltype(wrap_360(angle, 100.f));
-template auto wrap_360_cd<int>(const int angle) -> decltype(wrap_360(angle, 100.f));
-template auto wrap_360_cd<long>(const long angle) -> decltype(wrap_360(angle, 100.f));
-template auto wrap_360_cd<short>(const short angle) -> decltype(wrap_360(angle, 100.f));
-template auto wrap_360_cd<double>(const double angle) -> decltype(wrap_360(angle, 100.f));
+int wrap_360(const int angle, int unit_mod)
+{
+    const int ang_360 = 360 * unit_mod;
+    int res = angle % ang_360;
+    if (res < 0) {
+        res += ang_360;
+    }
+    return res;
+}
 
 template <typename T>
 float wrap_PI(const T radian)
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index feff4f1afb..f5bd1696fc 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -99,27 +99,34 @@ bool inverse(float x[], float y[], uint16_t dim) WARN_IF_UNUSED;
  * 100 == centi.
  */
 template <typename T>
-float wrap_180(const T angle, float unit_mod = 1);
+T wrap_180(const T angle, T unit_mod = T(1));
 
 /*
  * Wrap an angle in centi-degrees. See wrap_180().
  */
-template <typename T>
-auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f));
+inline float wrap_180_cd(const float angle) { return wrap_180(angle, float(100)); }
+inline int32_t wrap_180_cd(const int32_t angle) { return wrap_180(int(angle), int(100)); }
+#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
+inline double wrap_180_cd(const double angle) { return wrap_180(angle, double(100)); }
+#endif
 
 /*
  * Constrain an euler angle to be within the range: 0 to 360 degrees. The
  * second parameter changes the units. Default: 1 == degrees, 10 == dezi,
  * 100 == centi.
  */
-template <typename T>
-float wrap_360(const T angle, float unit_mod = 1);
+float wrap_360(const float angle, float unit_mod = 1);
+#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
+double wrap_360(const double angle, double unit_mod = 1);
+#endif
+int wrap_360(const int angle, int unit_mod = 1);
+
+inline int32_t wrap_360_cd(const int32_t angle) { return wrap_360(int(angle), int(100)); }
+inline float wrap_360_cd(const float angle) { return wrap_360(angle, float(100)); }
+#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
+inline double wrap_360_cd(const double angle) { return wrap_360(angle, double(100)); }
+#endif
 
-/*
- * Wrap an angle in centi-degrees. See wrap_360().
- */
-template <typename T>
-auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f));
 
 /*
   wrap an angle in radians to -PI ~ PI (equivalent to +- 180 degrees)