diff --git a/libraries/AP_Math/matrixN.h b/libraries/AP_Math/matrixN.h
index 82605fa54b..5cb604b275 100644
--- a/libraries/AP_Math/matrixN.h
+++ b/libraries/AP_Math/matrixN.h
@@ -19,12 +19,12 @@ class MatrixN {
 
 public:
     // constructor from zeros
-    MatrixN<T,N>(void) {
+    MatrixN(void) {
         memset(v, 0, sizeof(v));        
     }
 
     // constructor from 4 diagonals
-    MatrixN<T,N>(const float d[N]) {
+    MatrixN(const float d[N]) {
         memset(v, 0, sizeof(v));
         for (uint8_t i = 0; i < N; i++) {
             v[i][i] = d[i];
diff --git a/libraries/AP_Math/quaternion.h b/libraries/AP_Math/quaternion.h
index ad09ef583b..3ee535476e 100644
--- a/libraries/AP_Math/quaternion.h
+++ b/libraries/AP_Math/quaternion.h
@@ -32,20 +32,20 @@ public:
 
     // constructor creates a quaternion equivalent
     // to roll=0, pitch=0, yaw=0
-    QuaternionT<T>()
+    QuaternionT()
     {
         q1 = 1;
         q2 = q3 = q4 = 0;
     }
 
     // setting constructor
-    QuaternionT<T>(const T _q1, const T _q2, const T _q3, const T _q4) :
+    QuaternionT(const T _q1, const T _q2, const T _q3, const T _q4) :
         q1(_q1), q2(_q2), q3(_q3), q4(_q4)
     {
     }
 
     // setting constructor
-    QuaternionT<T>(const T _q[4]) :
+    QuaternionT(const T _q[4]) :
         q1(_q[0]), q2(_q[1]), q3(_q[2]), q4(_q[3])
     {
     }