diff --git a/libraries/AP_Math/matrix3.cpp b/libraries/AP_Math/matrix3.cpp
index 8ad2ffd15c..09591ba5f9 100644
--- a/libraries/AP_Math/matrix3.cpp
+++ b/libraries/AP_Math/matrix3.cpp
@@ -188,12 +188,30 @@ Matrix3<T> Matrix3<T>::operator *(const Matrix3<T> &m) const
     return temp;
 }
 
+template <typename T>
+Matrix3<T> Matrix3<T>::transposed(void) const
+{
+    return Matrix3<T>(Vector3<T>(a.x, b.x, c.x),
+                      Vector3<T>(a.y, b.y, c.y),
+                      Vector3<T>(a.z, b.z, c.z));
+}
+
+template <typename T>
+void Matrix3<T>::zero(void)
+{
+    a.x = a.y = a.z = 0;
+    b.x = b.y = b.z = 0;
+    c.x = c.y = c.z = 0;
+}
+
 
 // only define for float
 template void Matrix3<float>::rotation(enum Rotation);
+template void Matrix3<float>::zero(void);
 template void Matrix3<float>::rotate(const Vector3<float> &g);
 template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
 template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw);
 template Vector3<float> Matrix3<float>::operator *(const Vector3<float> &v) const;
 template Vector3<float> Matrix3<float>::mul_transpose(const Vector3<float> &v) const;
 template Matrix3<float> Matrix3<float>::operator *(const Matrix3<float> &m) const;
+template Matrix3<float> Matrix3<float>::transposed(void) const;
diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h
index 202d294fe2..06ceeb7292 100644
--- a/libraries/AP_Math/matrix3.h
+++ b/libraries/AP_Math/matrix3.h
@@ -102,21 +102,13 @@ public:
 	{	return *this = *this * m;	}
 
 	// transpose the matrix
-	Matrix3<T> transposed(void) const
-	{
-		return Matrix3<T>(Vector3<T>(a.x, b.x, c.x),
-						  Vector3<T>(a.y, b.y, c.y),
-						  Vector3<T>(a.z, b.z, c.z));
-	}
+	Matrix3<T> transposed(void) const;
+
 	Matrix3<T> transpose(void)
 	{	return *this = transposed();	}
 
 	// zero the matrix
-	void zero(void) {
-		a.x = a.y = a.z = 0;
-		b.x = b.y = b.z = 0;
-		c.x = c.y = c.z = 0;
-	}
+	void zero(void);
 
 	// setup the identity matrix
 	void identity(void) {
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index cd373488df..027e1d6143 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -109,7 +109,26 @@ void Vector3<T>::rotate(enum Rotation rotation)
     }
 }
 
+template <typename T>
+Vector3<T> Vector3<T>::operator %(const Vector3<T> &v) const
+{
+    Vector3<T> temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x);
+    return temp;
+}
+
+// dot product
+template <typename T>
+T Vector3<T>::operator *(const Vector3<T> &v) const
+{ return x*v.x + y*v.y + z*v.z;	}
+
+template <typename T>
+float Vector3<T>::length(void) const
+{
+    return (T)sqrt(*this * *this);
+}
+
 // only define for signed numbers
 template void Vector3<float>::rotate(enum Rotation);
-template void Vector3<int16_t>::rotate(enum Rotation);
-template void Vector3<int32_t>::rotate(enum Rotation);
+template float Vector3<float>::length(void) const;
+template Vector3<float> Vector3<float>::operator %(const Vector3<float> &v) const;
+template float Vector3<float>::operator *(const Vector3<float> &v) const;
diff --git a/libraries/AP_Math/vector3.h b/libraries/AP_Math/vector3.h
index acabf1776f..71f2022e48 100644
--- a/libraries/AP_Math/vector3.h
+++ b/libraries/AP_Math/vector3.h
@@ -123,23 +123,17 @@ public:
 	}
 
 	// dot product
-	T operator *(const Vector3<T> &v) const
-	{	return x*v.x + y*v.y + z*v.z;	}
+	T operator *(const Vector3<T> &v) const;
 
 	// cross product
-	Vector3<T> operator %(const Vector3<T> &v) const
-	{
-		Vector3<T> temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x);
-		return temp;
-	}
+	Vector3<T> operator %(const Vector3<T> &v) const;
 
 	// gets the length of this vector squared
 	T length_squared() const
 	{	return (T)(*this * *this);   }
 
 	// gets the length of this vector
-	float length() const
-	{	return (T)sqrt(*this * *this);   }
+	float length(void) const;
 
 	// normalizes this vector
 	void normalize()