diff --git a/libraries/AP_Math/AP_GeodesicGrid.cpp b/libraries/AP_Math/AP_GeodesicGrid.cpp
index d7786812d4..ff461ff2e9 100644
--- a/libraries/AP_Math/AP_GeodesicGrid.cpp
+++ b/libraries/AP_Math/AP_GeodesicGrid.cpp
@@ -105,78 +105,78 @@
 
 #include "AP_GeodesicGrid.h"
 
-AP_GeodesicGrid::AP_GeodesicGrid()
-    : _neighbor_umbrellas{
-        {{ 9,  8,  7, 12, 14}, 1, 2, 0, 0, 2},
-        {{ 1,  2,  4,  5,  3}, 0, 0, 2, 2, 0},
-        {{16, 15, 13, 18, 17}, 2, 2, 0, 2, 1},
-    }
-    , _inverses{
-        {{-0.309017f,  0.500000f,  0.190983f},
-         { 0.000000f,  0.000000f, -0.618034f},
-         {-0.309017f, -0.500000f,  0.190983f}},
-        {{-0.190983f,  0.309017f, -0.500000f},
-         {-0.500000f, -0.190983f,  0.309017f},
-         { 0.309017f, -0.500000f, -0.190983f}},
-        {{-0.618034f,  0.000000f,  0.000000f},
-         { 0.190983f, -0.309017f, -0.500000f},
-         { 0.190983f, -0.309017f,  0.500000f}},
-        {{-0.500000f,  0.190983f, -0.309017f},
-         { 0.000000f, -0.618034f,  0.000000f},
-         { 0.500000f,  0.190983f, -0.309017f}},
-        {{-0.190983f, -0.309017f, -0.500000f},
-         {-0.190983f, -0.309017f,  0.500000f},
-         { 0.618034f,  0.000000f,  0.000000f}},
-        {{-0.309017f, -0.500000f, -0.190983f},
-         { 0.190983f,  0.309017f, -0.500000f},
-         { 0.500000f, -0.190983f,  0.309017f}},
-        {{ 0.309017f, -0.500000f,  0.190983f},
-         { 0.000000f,  0.000000f, -0.618034f},
-         { 0.309017f,  0.500000f,  0.190983f}},
-        {{ 0.190983f, -0.309017f, -0.500000f},
-         { 0.500000f,  0.190983f,  0.309017f},
-         {-0.309017f,  0.500000f, -0.190983f}},
-        {{ 0.500000f, -0.190983f, -0.309017f},
-         { 0.000000f,  0.618034f,  0.000000f},
-         {-0.500000f, -0.190983f, -0.309017f}},
-        {{ 0.309017f,  0.500000f, -0.190983f},
-         {-0.500000f,  0.190983f,  0.309017f},
-         {-0.190983f, -0.309017f, -0.500000f}},
-    }
-    , _mid_inverses{
-        {{-0.000000f,  1.000000f, -0.618034f},
-         { 0.000000f, -1.000000f, -0.618034f},
-         {-0.618034f,  0.000000f,  1.000000f}},
-        {{-1.000000f,  0.618034f, -0.000000f},
-         {-0.000000f, -1.000000f,  0.618034f},
-         { 0.618034f, -0.000000f, -1.000000f}},
-        {{-0.618034f, -0.000000f, -1.000000f},
-         { 1.000000f, -0.618034f, -0.000000f},
-         {-0.618034f,  0.000000f,  1.000000f}},
-        {{-1.000000f, -0.618034f, -0.000000f},
-         { 1.000000f, -0.618034f,  0.000000f},
-         {-0.000000f,  1.000000f, -0.618034f}},
-        {{-1.000000f, -0.618034f,  0.000000f},
-         { 0.618034f,  0.000000f,  1.000000f},
-         { 0.618034f,  0.000000f, -1.000000f}},
-        {{-0.618034f, -0.000000f, -1.000000f},
-         { 1.000000f,  0.618034f, -0.000000f},
-         { 0.000000f, -1.000000f,  0.618034f}},
-        {{ 0.000000f, -1.000000f, -0.618034f},
-         { 0.000000f,  1.000000f, -0.618034f},
-         { 0.618034f, -0.000000f,  1.000000f}},
-        {{ 1.000000f, -0.618034f, -0.000000f},
-         { 0.000000f,  1.000000f,  0.618034f},
-         {-0.618034f,  0.000000f, -1.000000f}},
-        {{ 1.000000f,  0.618034f, -0.000000f},
-         {-1.000000f,  0.618034f,  0.000000f},
-         { 0.000000f, -1.000000f, -0.618034f}},
-        {{-0.000000f,  1.000000f,  0.618034f},
-         {-1.000000f, -0.618034f, -0.000000f},
-         { 0.618034f,  0.000000f, -1.000000f}},
-    }
-{
-}
+const struct AP_GeodesicGrid::neighbor_umbrella
+AP_GeodesicGrid::_neighbor_umbrellas[3]{
+    {{ 9,  8,  7, 12, 14}, 1, 2, 0, 0, 2},
+    {{ 1,  2,  4,  5,  3}, 0, 0, 2, 2, 0},
+    {{16, 15, 13, 18, 17}, 2, 2, 0, 2, 1},
+};
+
+const Matrix3f AP_GeodesicGrid::_inverses[10]{
+    {{-0.309017f,  0.500000f,  0.190983f},
+     { 0.000000f,  0.000000f, -0.618034f},
+     {-0.309017f, -0.500000f,  0.190983f}},
+    {{-0.190983f,  0.309017f, -0.500000f},
+     {-0.500000f, -0.190983f,  0.309017f},
+     { 0.309017f, -0.500000f, -0.190983f}},
+    {{-0.618034f,  0.000000f,  0.000000f},
+     { 0.190983f, -0.309017f, -0.500000f},
+     { 0.190983f, -0.309017f,  0.500000f}},
+    {{-0.500000f,  0.190983f, -0.309017f},
+     { 0.000000f, -0.618034f,  0.000000f},
+     { 0.500000f,  0.190983f, -0.309017f}},
+    {{-0.190983f, -0.309017f, -0.500000f},
+     {-0.190983f, -0.309017f,  0.500000f},
+     { 0.618034f,  0.000000f,  0.000000f}},
+    {{-0.309017f, -0.500000f, -0.190983f},
+     { 0.190983f,  0.309017f, -0.500000f},
+     { 0.500000f, -0.190983f,  0.309017f}},
+    {{ 0.309017f, -0.500000f,  0.190983f},
+     { 0.000000f,  0.000000f, -0.618034f},
+     { 0.309017f,  0.500000f,  0.190983f}},
+    {{ 0.190983f, -0.309017f, -0.500000f},
+     { 0.500000f,  0.190983f,  0.309017f},
+     {-0.309017f,  0.500000f, -0.190983f}},
+    {{ 0.500000f, -0.190983f, -0.309017f},
+     { 0.000000f,  0.618034f,  0.000000f},
+     {-0.500000f, -0.190983f, -0.309017f}},
+    {{ 0.309017f,  0.500000f, -0.190983f},
+     {-0.500000f,  0.190983f,  0.309017f},
+     {-0.190983f, -0.309017f, -0.500000f}},
+};
+
+const Matrix3f AP_GeodesicGrid::_mid_inverses[10]{
+    {{-0.000000f,  1.000000f, -0.618034f},
+     { 0.000000f, -1.000000f, -0.618034f},
+     {-0.618034f,  0.000000f,  1.000000f}},
+    {{-1.000000f,  0.618034f, -0.000000f},
+     {-0.000000f, -1.000000f,  0.618034f},
+     { 0.618034f, -0.000000f, -1.000000f}},
+    {{-0.618034f, -0.000000f, -1.000000f},
+     { 1.000000f, -0.618034f, -0.000000f},
+     {-0.618034f,  0.000000f,  1.000000f}},
+    {{-1.000000f, -0.618034f, -0.000000f},
+     { 1.000000f, -0.618034f,  0.000000f},
+     {-0.000000f,  1.000000f, -0.618034f}},
+    {{-1.000000f, -0.618034f,  0.000000f},
+     { 0.618034f,  0.000000f,  1.000000f},
+     { 0.618034f,  0.000000f, -1.000000f}},
+    {{-0.618034f, -0.000000f, -1.000000f},
+     { 1.000000f,  0.618034f, -0.000000f},
+     { 0.000000f, -1.000000f,  0.618034f}},
+    {{ 0.000000f, -1.000000f, -0.618034f},
+     { 0.000000f,  1.000000f, -0.618034f},
+     { 0.618034f, -0.000000f,  1.000000f}},
+    {{ 1.000000f, -0.618034f, -0.000000f},
+     { 0.000000f,  1.000000f,  0.618034f},
+     {-0.618034f,  0.000000f, -1.000000f}},
+    {{ 1.000000f,  0.618034f, -0.000000f},
+     {-1.000000f,  0.618034f,  0.000000f},
+     { 0.000000f, -1.000000f, -0.618034f}},
+    {{-0.000000f,  1.000000f,  0.618034f},
+     {-1.000000f, -0.618034f, -0.000000f},
+     { 0.618034f,  0.000000f, -1.000000f}},
+};
 
 int AP_GeodesicGrid::section(const Vector3f& v,
                              const bool inclusive) const
diff --git a/libraries/AP_Math/AP_GeodesicGrid.h b/libraries/AP_Math/AP_GeodesicGrid.h
index feb8e071b3..865888d93f 100644
--- a/libraries/AP_Math/AP_GeodesicGrid.h
+++ b/libraries/AP_Math/AP_GeodesicGrid.h
@@ -106,8 +106,6 @@ public:
      */
     static const int NUM_SUBTRIANGLES = 4;
 
-    AP_GeodesicGrid();
-
     /**
      * Find which section is crossed by \p v.
      *
@@ -170,7 +168,7 @@ private:
      * The i-th matrix is the inverse of the change-of-basis matrix from
      * natural basis to the basis formed by T_i's vectors.
      */
-    Matrix3f _inverses[10];
+    static const Matrix3f _inverses[10];
 
     /**
      * The inverses of the change-of-basis matrices for the middle triangles.
@@ -178,7 +176,7 @@ private:
      * The i-th matrix is the inverse of the change-of-basis matrix from
      * natural basis to the basis formed by T_i's middle triangle's vectors.
      */
-    Matrix3f _mid_inverses[10];
+    static const Matrix3f _mid_inverses[10];
 
     /**
      * The representation of the neighbor umbrellas of T_0.
@@ -202,7 +200,7 @@ private:
      * the umbrellas' vertices and components is convertioned to be with
      * respect to those pairs.
      */
-    struct neighbor_umbrella {
+    static const struct neighbor_umbrella {
         /**
          * The umbrella's components. The value of #components[i] is the
          * icosahedron triangle index of the i-th component.