diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index 087aedff99..d38be45c1a 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -70,59 +70,3 @@ enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *fou
 }
 #endif
 
-// constrain a value
-float constrain_float(float amt, float low, float high) 
-{
-	// the check for NaN as a float prevents propogation of
-	// floating point errors through any function that uses
-	// constrain_float(). The normal float semantics already handle -Inf
-	// and +Inf
-	if (isnan(amt)) {
-		return (low+high)*0.5f;
-	}
-	return ((amt)<(low)?(low):((amt)>(high)?(high):(amt)));
-}
-
-// constrain a int16_t value
-int16_t constrain_int16(int16_t amt, int16_t low, int16_t high) {
-	return ((amt)<(low)?(low):((amt)>(high)?(high):(amt)));
-}
-
-// constrain a int32_t value
-int32_t constrain_int32(int32_t amt, int32_t low, int32_t high) {
-	return ((amt)<(low)?(low):((amt)>(high)?(high):(amt)));
-}
-
-// degrees -> radians
-float radians(float deg) {
-	return deg * DEG_TO_RAD;
-}
-
-// radians -> degrees
-float degrees(float rad) {
-	return rad * RAD_TO_DEG;
-}
-
-// square
-float sq(float v) {
-	return v*v;
-}
-
-// 2D vector length
-float pythagorous2(float a, float b) {
-	return sqrtf(sq(a)+sq(b));
-}
-
-// 3D vector length
-float pythagorous3(float a, float b, float c) {
-	return sqrtf(sq(a)+sq(b)+sq(c));
-}
-
-float maxf(float a, float b)
-{
-    return (a>b?a:b);
-}
-float minf(float a, float b)
-{
-    return (a<b?a:b);
-}
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index c4df5834bb..e0e11026e2 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -173,25 +173,55 @@ void wgsecef2llh(const Vector3d &ecef, Vector3d &llh);
 #endif
 
 // constrain a value
-float   constrain_float(float amt, float low, float high);
-int16_t constrain_int16(int16_t amt, int16_t low, int16_t high);
-int32_t constrain_int32(int32_t amt, int32_t low, int32_t high);
+// constrain a value
+static inline float constrain_float(float amt, float low, float high)
+{
+	// the check for NaN as a float prevents propogation of
+	// floating point errors through any function that uses
+	// constrain_float(). The normal float semantics already handle -Inf
+	// and +Inf
+	if (isnan(amt)) {
+		return (low+high)*0.5f;
+	}
+	return ((amt)<(low)?(low):((amt)>(high)?(high):(amt)));
+}
+// constrain a int16_t value
+static inline int16_t constrain_int16(int16_t amt, int16_t low, int16_t high) {
+	return ((amt)<(low)?(low):((amt)>(high)?(high):(amt)));
+}
+
+// constrain a int32_t value
+static inline int32_t constrain_int32(int32_t amt, int32_t low, int32_t high) {
+	return ((amt)<(low)?(low):((amt)>(high)?(high):(amt)));
+}
 
 //matrix algebra
 bool inverse(float x[], float y[], uint16_t dim);
 
 // degrees -> radians
-float radians(float deg);
+static inline float radians(float deg) {
+	return deg * DEG_TO_RAD;
+}
 
 // radians -> degrees
-float degrees(float rad);
+static inline float degrees(float rad) {
+	return rad * RAD_TO_DEG;
+}
 
 // square
-float sq(float v);
+static inline float sq(float v) {
+	return v*v;
+}
 
-// sqrt of sum of squares
-float pythagorous2(float a, float b);
-float pythagorous3(float a, float b, float c);
+// 2D vector length
+static inline float pythagorous2(float a, float b) {
+	return sqrtf(sq(a)+sq(b));
+}
+
+// 3D vector length
+static inline float pythagorous3(float a, float b, float c) {
+	return sqrtf(sq(a)+sq(b)+sq(c));
+}
 
 #ifdef radians
 #error "Build is including Arduino base headers"
@@ -201,8 +231,16 @@ float pythagorous3(float a, float b, float c);
 #define max(a,b) ((a)>(b)?(a):(b))
 #define min(a,b) ((a)<(b)?(a):(b))
 
-float maxf(float a, float b);
-float minf(float a, float b);
+static inline float maxf(float a, float b)
+{
+    return (a>b?a:b);
+}
 
+static inline float minf(float a, float b)
+{
+    return (a<b?a:b);
+}
+
+#undef INLINE
 #endif // AP_MATH_H