diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 0c02c321daec..7aec22234b00 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -66,7 +66,6 @@ extern "C" {
  * Maximum interval in us before FMU signal is considered lost
  */
 #define FMU_INPUT_DROP_LIMIT_US		500000
-#define NAN_VALUE	(0.0f/0.0f)
 
 /* current servo arm/disarm state */
 static volatile bool mixer_servos_armed = false;
@@ -479,7 +478,7 @@ mixer_callback(uintptr_t handle,
 		     control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
 		    control_index == actuator_controls_s::INDEX_THROTTLE) {
 			/* mark the throttle as invalid */
-			control = NAN_VALUE;
+			control = NAN;
 		}
 	}
 
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 5b0cf38a5174..967b65d491e1 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -37,22 +37,10 @@
  * Mixer load test
  */
 
-#include <px4_config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
+#include <limits>
 #include <dirent.h>
-#include <errno.h>
-#include <string.h>
-#include <time.h>
-#include <limits.h>
-#include <math.h>
 
-#include <systemlib/err.h>
+#include <px4_config.h>
 #include <lib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <drivers/drv_hrt.h>
@@ -75,8 +63,6 @@ const unsigned output_max = 8;
 static float actuator_controls[output_max];
 static bool should_prearm = false;
 
-#define NAN_VALUE (0.0f/0.0f)
-
 #ifdef __PX4_DARWIN
 #define MIXER_DIFFERENCE_THRESHOLD 30
 #else
@@ -604,7 +590,7 @@ mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, f
 
 	if (should_prearm && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
 	    control_index == actuator_controls_s::INDEX_THROTTLE) {
-		control = NAN_VALUE;
+		control = std::numeric_limits<float>::quiet_NaN();
 	}
 
 	return 0;