diff --git a/Firmware/Drivers/DRV8301/drv8301.cpp b/Firmware/Drivers/DRV8301/drv8301.cpp
index e2fb20c2..3e1cbf91 100644
--- a/Firmware/Drivers/DRV8301/drv8301.cpp
+++ b/Firmware/Drivers/DRV8301/drv8301.cpp
@@ -41,7 +41,7 @@
 #include "utils.hpp"
 
 #include "cmsis_os.h"
-#include <math.h>
+#include <cmath>
 #include <array>
 #include <algorithm>
 
diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index af258c29..ea6b879b 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -3,7 +3,7 @@
 #include <board.h>
 
 #include <cmsis_os.h>
-#include <math.h>
+#include <cmath>
 #include <stdint.h>
 #include <stdlib.h>
 
diff --git a/Firmware/MotorControl/trapTraj.cpp b/Firmware/MotorControl/trapTraj.cpp
index cb271fcd..6bc73e18 100644
--- a/Firmware/MotorControl/trapTraj.cpp
+++ b/Firmware/MotorControl/trapTraj.cpp
@@ -1,4 +1,4 @@
-#include <math.h>
+#include <cmath>
 #include "odrive_main.h"
 #include "utils.hpp"
 
diff --git a/Firmware/MotorControl/utils.cpp b/Firmware/MotorControl/utils.cpp
index 3bf30baf..313b5da0 100644
--- a/Firmware/MotorControl/utils.cpp
+++ b/Firmware/MotorControl/utils.cpp
@@ -1,6 +1,6 @@
 
 #include <utils.hpp>
-#include <math.h>
+#include <cmath>
 #include <float.h>
 #include <cmsis_os.h>
 #include <board.h>
diff --git a/Firmware/MotorControl/utils.hpp b/Firmware/MotorControl/utils.hpp
index e70a9ccc..8c9143fa 100644
--- a/Firmware/MotorControl/utils.hpp
+++ b/Firmware/MotorControl/utils.hpp
@@ -3,7 +3,7 @@
 #define __UTILS_H
 
 #include <stdint.h>
-#include <math.h>
+#include <cmath>
 
 /**
  * @brief Flash size register address
diff --git a/Firmware/Tests/test_trap_traj.cpp b/Firmware/Tests/test_trap_traj.cpp
index 90d8275f..8d5399ff 100644
--- a/Firmware/Tests/test_trap_traj.cpp
+++ b/Firmware/Tests/test_trap_traj.cpp
@@ -1,7 +1,7 @@
 
 #include <doctest.h>
 #include <limits.h>
-#include <math.h>
+#include <cmath>
 #include <iostream>
 #include <random>
 
diff --git a/Firmware/fibre/cpp/include/fibre/protocol.hpp b/Firmware/fibre/cpp/include/fibre/protocol.hpp
index 5d529c39..2a01e220 100644
--- a/Firmware/fibre/cpp/include/fibre/protocol.hpp
+++ b/Firmware/fibre/cpp/include/fibre/protocol.hpp
@@ -10,7 +10,7 @@ see protocol.md for the protocol specification
 
 #include <functional>
 #include <limits>
-#include <math.h>
+#include <cmath>
 //#include <stdint.h>
 #include <stdio.h>
 #include <string.h>