diff --git a/libraries/AP_Mount/AP_Gimbal.cpp b/libraries/AP_Mount/AP_Gimbal.cpp
index b60abbc9ac..77ac9f3639 100644
--- a/libraries/AP_Mount/AP_Gimbal.cpp
+++ b/libraries/AP_Mount/AP_Gimbal.cpp
@@ -8,12 +8,13 @@
 #include <AP_Common.h>
 #include <GCS.h>
 #include <AP_SmallEKF.h>
+#include "AP_Math.h"
 
 void AP_Gimbal::receive_feedback(mavlink_channel_t chan, mavlink_message_t *msg)
 {
     decode_feedback(msg);
     update_state();
-    if (_ekf.getStatus() && !isCopterFlipped() && _gimbalParams.K_gimbalRate!=0.0f){
+    if (_ekf.getStatus() && !isCopterFlipped() && !AP_Math::is_zero(_gimbalParams.K_gimbalRate)){
         send_control(chan);
     }
 
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index a806c24ff9..a096647621 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -154,13 +154,13 @@ void AP_Mount_Servo::stabilize()
         // lead filter
         const Vector3f &gyro = _frontend._ahrs.get_gyro();
 
-        if (_state._stab_roll && _state._roll_stb_lead != 0.0f && fabsf(_frontend._ahrs.pitch) < M_PI/3.0f) {
+        if (_state._stab_roll && !AP_Math::is_zero(_state._roll_stb_lead) && fabsf(_frontend._ahrs.pitch) < (float)M_PI/3.0f) {
             // Compute rate of change of euler roll angle
             float roll_rate = gyro.x + (_frontend._ahrs.sin_pitch() / _frontend._ahrs.cos_pitch()) * (gyro.y * _frontend._ahrs.sin_roll() + gyro.z * _frontend._ahrs.cos_roll());
             _angle_bf_output_deg.x -= degrees(roll_rate) * _state._roll_stb_lead;
         }
 
-        if (_state._stab_tilt && _state._pitch_stb_lead != 0.0f) {
+        if (_state._stab_tilt && !AP_Math::is_zero(_state._pitch_stb_lead)) {
             // Compute rate of change of euler pitch angle
             float pitch_rate = _frontend._ahrs.cos_pitch() * gyro.y - _frontend._ahrs.sin_roll() * gyro.z;
             _angle_bf_output_deg.y -= degrees(pitch_rate) * _state._pitch_stb_lead;