diff --git a/mk/board_flymaple.mk b/mk/board_flymaple.mk
index d7a77b2c64..131c107548 100644
--- a/mk/board_flymaple.mk
+++ b/mk/board_flymaple.mk
@@ -27,6 +27,9 @@ USBID := 1EAF:0003
 PRODUCT_ID := 0003
 LD_MEM_DIR := sram_64k_flash_512k
 
+# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
+EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
+
 #
 # Tool options
 #
diff --git a/mk/board_native.mk b/mk/board_native.mk
index 6b44332339..2343f2003a 100644
--- a/mk/board_native.mk
+++ b/mk/board_native.mk
@@ -2,6 +2,9 @@ TOOLCHAIN = NATIVE
 
 include $(MK_DIR)/find_tools.mk
 
+# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
+EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
+
 #
 # Tool options
 #
diff --git a/mk/board_qflight.mk b/mk/board_qflight.mk
index f0bfb99a49..3209c10f50 100644
--- a/mk/board_qflight.mk
+++ b/mk/board_qflight.mk
@@ -39,6 +39,9 @@ LIBOBJS += $(QFLIGHT_BUILD)/qflight_stub.o
 # Add missing parts from libc and libstdc++
 MISSING_TOOLCHAIN_FLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_STD_MOVE=0 -DHAVE_STD_REMOVE_REFERENCE=0 -DHAVE_TYPE_TRAITS_H=0 -DHAVE_BYTESWAP_H=0
 
+# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
+EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
+
 # DSP build flags
 DSP_INC=$(MISSING_TOOLCHAIN_FLAGS) $(SHARED_INC) -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/machine -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_ReleaseG -I$(QFLIGHT_BUILD) -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(SKETCHBOOK)/libraries
 DSP_FLAGS=-mv5 -G0 -g -O3 -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__  $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
diff --git a/mk/board_qurt.mk b/mk/board_qurt.mk
index 0019c05e2d..24cd4d5c5f 100644
--- a/mk/board_qurt.mk
+++ b/mk/board_qurt.mk
@@ -32,6 +32,9 @@ OPT		= -O3
 
 include $(MK_DIR)/find_tools.mk
 
+# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
+EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
+
 DEFINES        +=   -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
 DEFINES        +=   $(EXTRAFLAGS)
 DEFINES        +=   -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) -DAP_MAIN=ArduPilot_main
diff --git a/mk/vrbrain_targets.mk b/mk/vrbrain_targets.mk
index 297a360691..10c0d51529 100644
--- a/mk/vrbrain_targets.mk
+++ b/mk/vrbrain_targets.mk
@@ -58,6 +58,9 @@ SKETCHFLAGS=$(SKETCHLIBINCLUDES) -I$(PWD) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISA
 
 WARNFLAGS = -Wall -Wextra -Wlogical-op -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-unknown-pragmas
 
+# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
+EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
+
 VRBRAIN_MAKE = $(v) make -C $(SKETCHBOOK) -f $(VRBRAIN_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) VRBRAIN_ROOT=$(VRBRAIN_ROOT) VRBRAIN_NUTTX_SRC=$(VRBRAIN_NUTTX_SRC) MAXOPTIMIZATION="-Os"
 VRBRAIN_MAKE_ARCHIVES = make -C $(VRBRAIN_ROOT) VRBRAIN_NUTTX_SRC=$(VRBRAIN_NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"