diff --git a/src/lib/mathlib/CMakeLists.txt b/src/lib/mathlib/CMakeLists.txt
index 3c0b007f7ad6..f51827d78bde 100644
--- a/src/lib/mathlib/CMakeLists.txt
+++ b/src/lib/mathlib/CMakeLists.txt
@@ -35,7 +35,6 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		math/test/test.cpp
-		math/Limits.cpp
 		math/matrix_alg.cpp
 		math/filter/LowPassFilter2p.cpp
 	)
diff --git a/src/lib/mathlib/math/Limits.cpp b/src/lib/mathlib/math/Limits.cpp
deleted file mode 100644
index 114929ba1745..000000000000
--- a/src/lib/mathlib/math/Limits.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Limits.cpp
- *
- * Limiting / constrain helper functions
- */
-
-
-#include <math.h>
-#include <stdint.h>
-
-#include "Limits.hpp"
-
-
-namespace math
-{
-
-#if !defined(CONFIG_ARCH_ARM) && !defined(__PX4_POSIX)
-#define M_PI_F 3.14159265358979323846f
-#endif
-
-float __EXPORT radians(float degrees)
-{
-	return (degrees / 180.0f) * M_PI_F;
-}
-
-double __EXPORT radians(double degrees)
-{
-	return (degrees / 180.0) * M_PI;
-}
-
-float __EXPORT degrees(float radians)
-{
-	return (radians / M_PI_F) * 180.0f;
-}
-
-double __EXPORT degrees(double radians)
-{
-	return (radians / M_PI) * 180.0;
-}
-
-}
diff --git a/src/lib/mathlib/math/Limits.hpp b/src/lib/mathlib/math/Limits.hpp
index 743aa5241b9b..5777ed89ace4 100644
--- a/src/lib/mathlib/math/Limits.hpp
+++ b/src/lib/mathlib/math/Limits.hpp
@@ -55,29 +55,33 @@ namespace math
 {
 
 template<typename _Tp>
-inline constexpr const _Tp &min(const _Tp &a, const _Tp &b)
+constexpr const _Tp &min(const _Tp &a, const _Tp &b)
 {
 	return (a < b) ? a : b;
 }
 
 template<typename _Tp>
-inline constexpr const _Tp &max(const _Tp &a, const _Tp &b)
+constexpr const _Tp &max(const _Tp &a, const _Tp &b)
 {
 	return (a > b) ? a : b;
 }
 
 template<typename _Tp>
-inline constexpr const _Tp &constrain(const _Tp &val, const _Tp &min_val, const _Tp &max_val)
+constexpr const _Tp &constrain(const _Tp &val, const _Tp &min_val, const _Tp &max_val)
 {
 	return (val < min_val) ? min_val : ((val > max_val) ? max_val : val);
 }
 
-float __EXPORT radians(float degrees);
-
-double __EXPORT radians(double degrees);
-
-float __EXPORT degrees(float radians);
+template<typename T>
+constexpr T radians(const T degrees)
+{
+	return degrees * (static_cast<T>(M_PI) / static_cast<T>(180));
+}
 
-double __EXPORT degrees(double radians);
+template<typename T>
+constexpr T degrees(const T radians)
+{
+	return radians * (static_cast<T>(180) / static_cast<T>(M_PI));
+}
 
 }