diff --git a/libraries/AP_Math/matrix3.cpp b/libraries/AP_Math/matrix3.cpp
index ed16beaff2..bd64d62a02 100644
--- a/libraries/AP_Math/matrix3.cpp
+++ b/libraries/AP_Math/matrix3.cpp
@@ -52,10 +52,10 @@ void Matrix3<T>::to_euler(T *roll, T *pitch, T *yaw) const
         *pitch = -safe_asin(c.x);
     }
     if (roll != nullptr) {
-        *roll = atan2f(c.y, c.z);
+        *roll = atan2F(c.y, c.z);
     }
     if (yaw != nullptr) {
-        *yaw = atan2f(b.x, a.x);
+        *yaw = atan2F(b.x, a.x);
     }
 }
 
@@ -81,8 +81,8 @@ template <typename T>
 Vector3<T> Matrix3<T>::to_euler312() const
 {
     return Vector3<T>(asinF(c.y),
-                      atan2f(-c.x, c.z),
-                      atan2f(-a.y, b.y));
+                      atan2F(-c.x, c.z),
+                      atan2F(-a.y, b.y));
 }
 
 /*
diff --git a/libraries/AP_Math/vector2.cpp b/libraries/AP_Math/vector2.cpp
index 7bd72ce7d4..35d4826597 100644
--- a/libraries/AP_Math/vector2.cpp
+++ b/libraries/AP_Math/vector2.cpp
@@ -161,7 +161,7 @@ T Vector2<T>::angle(const Vector2<T> &v2) const
 template <typename T>
 T Vector2<T>::angle(void) const
 {
-    return M_PI_2 + atan2f(-x, y);
+    return M_PI_2 + atan2F(-x, y);
 }
 
 // find the intersection between two line segments
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index 0457579010..4e842b31aa 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -418,7 +418,7 @@ T Vector3<T>::angle(const Vector3<T> &v2) const
         return 0.0f;
     }
     const T cosv = ((*this)*v2) / len;
-    if (fabsf(cosv) >= 1) {
+    if (fabsF(cosv) >= 1) {
         return 0.0f;
     }
     return acosF(cosv);