diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index 1b17bbf304..b12aaee2f2 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -7,7 +7,7 @@
  * compatibility with old code. Expands to the same as comparing the values
  * directly
  */
-template <class Arithmetic1, class Arithmetic2>
+template <typename Arithmetic1, typename Arithmetic2>
 typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type
 is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2)
 {
@@ -19,7 +19,7 @@ is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2)
  * is_equal(): double/float implementation - takes into account
  * std::numeric_limits<T>::epsilon() to return if 2 values are equal.
  */
-template <class Arithmetic1, class Arithmetic2>
+template <typename Arithmetic1, typename Arithmetic2>
 typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type
 is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2)
 {
@@ -36,7 +36,7 @@ template bool is_equal<short>(const short v_1, const short v_2);
 template bool is_equal<float>(const float v_1, const float v_2);
 template bool is_equal<double>(const double v_1, const double v_2);
 
-template <class T>
+template <typename T>
 float safe_asin(const T v)
 {
     const float f = static_cast<const float>(v);
@@ -57,7 +57,7 @@ template float safe_asin<short>(const short v);
 template float safe_asin<float>(const float v);
 template float safe_asin<double>(const double v);
 
-template <class T>
+template <typename T>
 float safe_sqrt(const T v)
 {
     float ret = sqrtf(static_cast<float>(v));
@@ -89,7 +89,7 @@ float linear_interpolate(float low_output, float high_output,
     return low_output + p * (high_output - low_output);
 }
 
-template <class T>
+template <typename T>
 float wrap_180(const T angle, float unit_mod)
 {
     auto res = wrap_360(angle, unit_mod);
@@ -104,7 +104,7 @@ template float wrap_180<short>(const short angle, float unit_mod);
 template float wrap_180<float>(const float angle, float unit_mod);
 template float wrap_180<double>(const double angle, float unit_mod);
 
-template <class T>
+template <typename T>
 auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f))
 {
     return wrap_180(angle, 100.f);
@@ -115,7 +115,7 @@ template auto wrap_180_cd<int>(const int angle) -> decltype(wrap_180(angle, 100.
 template auto wrap_180_cd<short>(const short angle) -> decltype(wrap_180(angle, 100.f));
 template auto wrap_180_cd<double>(const double angle) -> decltype(wrap_360(angle, 100.f));
 
-template <class T>
+template <typename T>
 float wrap_360(const T angle, float unit_mod)
 {
     const float ang_360 = 360.f * unit_mod;
@@ -131,7 +131,7 @@ template float wrap_360<short>(const short angle, float unit_mod);
 template float wrap_360<float>(const float angle, float unit_mod);
 template float wrap_360<double>(const double angle, float unit_mod);
 
-template <class T>
+template <typename T>
 auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f))
 {
     return wrap_360(angle, 100.f);
@@ -142,7 +142,7 @@ template auto wrap_360_cd<int>(const int angle) -> decltype(wrap_360(angle, 100.
 template auto wrap_360_cd<short>(const short angle) -> decltype(wrap_360(angle, 100.f));
 template auto wrap_360_cd<double>(const double angle) -> decltype(wrap_360(angle, 100.f));
 
-template <class T>
+template <typename T>
 float wrap_PI(const T radian)
 {
     auto res = wrap_2PI(radian);
@@ -157,7 +157,7 @@ template float wrap_PI<short>(const short radian);
 template float wrap_PI<float>(const float radian);
 template float wrap_PI<double>(const double radian);
 
-template <class T>
+template <typename T>
 float wrap_2PI(const T radian)
 {
     float res = fmodf(static_cast<float>(radian), M_2PI);
@@ -172,7 +172,7 @@ template float wrap_2PI<short>(const short radian);
 template float wrap_2PI<float>(const float radian);
 template float wrap_2PI<double>(const double radian);
 
-template <class T>
+template <typename T>
 T constrain_value(const T amt, const T low, const T high)
 {
     // the check for NaN as a float prevents propagation of floating point
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index e7b1e1c392..adfb7a6df0 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -24,18 +24,18 @@ AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
 /*
  * Check whether two floats are equal
  */
-template <class Arithmetic1, class Arithmetic2>
+template <typename Arithmetic1, typename Arithmetic2>
 typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type
 is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2);
 
-template <class Arithmetic1, class Arithmetic2>
+template <typename Arithmetic1, typename Arithmetic2>
 typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type
 is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2);
 
 /* 
  * @brief: Check whether a float is zero
  */
-template <class T>
+template <typename T>
 inline bool is_zero(const T fVal1) {
     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
                   "Template parameter not of type float");
@@ -45,7 +45,7 @@ inline bool is_zero(const T fVal1) {
 /* 
  * @brief: Check whether a float is greater than zero
  */
-template <class T>
+template <typename T>
 inline bool is_positive(const T fVal1) {
     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
                   "Template parameter not of type float");
@@ -56,7 +56,7 @@ inline bool is_positive(const T fVal1) {
 /* 
  * @brief: Check whether a float is less than zero
  */
-template <class T>
+template <typename T>
 inline bool is_negative(const T fVal1) {
     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
                   "Template parameter not of type float");
@@ -68,7 +68,7 @@ inline bool is_negative(const T fVal1) {
  * A variant of asin() that checks the input ranges and ensures a valid angle
  * as output. If nan is given as input then zero is returned.
  */
-template <class T>
+template <typename T>
 float safe_asin(const T v);
 
 /*
@@ -77,7 +77,7 @@ float safe_asin(const T v);
  * is that a negative number for sqrt() in our code is usually caused by small
  * numerical rounding errors, so the real input should have been zero
  */
-template <class T>
+template <typename T>
 float safe_sqrt(const T v);
 
 // invOut is an inverted 4x4 matrix when returns true, otherwise matrix is Singular
@@ -97,13 +97,13 @@ bool inverse(float x[], float y[], uint16_t dim);
  * parameter changes the units. Default: 1 == degrees, 10 == dezi,
  * 100 == centi.
  */
-template <class T>
+template <typename T>
 float wrap_180(const T angle, float unit_mod = 1);
 
 /*
  * Wrap an angle in centi-degrees. See wrap_180().
  */
-template <class T>
+template <typename T>
 auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f));
 
 /*
@@ -111,31 +111,31 @@ auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f));
  * second parameter changes the units. Default: 1 == degrees, 10 == dezi,
  * 100 == centi.
  */
-template <class T>
+template <typename T>
 float wrap_360(const T angle, float unit_mod = 1);
 
 /*
  * Wrap an angle in centi-degrees. See wrap_360().
  */
-template <class T>
+template <typename T>
 auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f));
 
 /*
   wrap an angle in radians to -PI ~ PI (equivalent to +- 180 degrees)
  */
-template <class T>
+template <typename T>
 float wrap_PI(const T radian);
 
 /*
  * wrap an angle in radians to 0..2PI
  */
-template <class T>
+template <typename T>
 float wrap_2PI(const T radian);
 
 /*
  * Constrain a value to be within the range: low and high
  */
-template <class T>
+template <typename T>
 T constrain_value(const T amt, const T low, const T high);
 
 inline float constrain_float(const float amt, const float low, const float high)
@@ -165,7 +165,7 @@ static inline float degrees(float rad)
     return rad * RAD_TO_DEG;
 }
 
-template<class T>
+template<typename T>
 float sq(const T val)
 {
     return powf(static_cast<float>(val), 2);
@@ -175,7 +175,7 @@ float sq(const T val)
  * Variadic template for calculating the square norm of a vector of any
  * dimension.
  */
-template<class T, class... Params>
+template<typename T, typename... Params>
 float sq(const T first, const Params... parameters)
 {
     return sq(first) + sq(parameters...);
@@ -185,7 +185,7 @@ float sq(const T first, const Params... parameters)
  * Variadic template for calculating the norm (pythagoras) of a vector of any
  * dimension.
  */
-template<class T, class U, class... Params>
+template<typename T, typename U, typename... Params>
 float norm(const T first, const U second, const Params... parameters)
 {
     return sqrtf(sq(first, second, parameters...));