diff --git a/apps/mathlib/CMSIS/Include/core_cm3.h b/apps/mathlib/CMSIS/Include/core_cm3.h
index db1716ad95..733d6be539 100644
--- a/apps/mathlib/CMSIS/Include/core_cm3.h
+++ b/apps/mathlib/CMSIS/Include/core_cm3.h
@@ -118,8 +118,8 @@
 #endif
 
 #include <stdint.h>                      /* standard types definitions                      */
-#include <core_cmInstr.h>                /* Core Instruction Access                         */
-#include <core_cmFunc.h>                 /* Core Function Access                            */
+#include "core_cmInstr.h"                /* Core Instruction Access                         */
+#include "core_cmFunc.h"                 /* Core Function Access                            */
 
 #endif /* __CORE_CM3_H_GENERIC */
 
diff --git a/apps/mathlib/CMSIS/Include/core_cm4.h b/apps/mathlib/CMSIS/Include/core_cm4.h
index 024302e4a6..5f3b7d6198 100644
--- a/apps/mathlib/CMSIS/Include/core_cm4.h
+++ b/apps/mathlib/CMSIS/Include/core_cm4.h
@@ -151,9 +151,9 @@
 #endif
 
 #include <stdint.h>                      /* standard types definitions                      */
-#include <core_cmInstr.h>                /* Core Instruction Access                         */
-#include <core_cmFunc.h>                 /* Core Function Access                            */
-#include <core_cm4_simd.h>               /* Compiler specific SIMD Intrinsics               */
+#include "core_cmInstr.h"                /* Core Instruction Access                         */
+#include "core_cmFunc.h"                 /* Core Function Access                            */
+#include "core_cm4_simd.h"               /* Compiler specific SIMD Intrinsics               */
 
 #endif /* __CORE_CM4_H_GENERIC */
 
diff --git a/apps/mathlib/math/arm/Matrix.hpp b/apps/mathlib/math/arm/Matrix.hpp
index 63d7556495..715fd3a5e8 100644
--- a/apps/mathlib/math/arm/Matrix.hpp
+++ b/apps/mathlib/math/arm/Matrix.hpp
@@ -51,7 +51,7 @@
 #include "../Matrix.hpp"
 
 // arm specific
-#include "arm_math.h"
+#include "../../CMSIS/Include/arm_math.h"
 
 namespace math
 {
diff --git a/apps/mathlib/math/arm/Vector.hpp b/apps/mathlib/math/arm/Vector.hpp
index e1f1838e71..58d51107d5 100644
--- a/apps/mathlib/math/arm/Vector.hpp
+++ b/apps/mathlib/math/arm/Vector.hpp
@@ -50,7 +50,7 @@
 #include "../test/test.hpp"
 
 // arm specific
-#include "arm_math.h"
+#include "../../CMSIS/Include/arm_math.h"
 
 namespace math
 {
diff --git a/nuttx/configs/px4fmu/common/Make.defs b/nuttx/configs/px4fmu/common/Make.defs
index 44082f64e3..53407f0bb3 100644
--- a/nuttx/configs/px4fmu/common/Make.defs
+++ b/nuttx/configs/px4fmu/common/Make.defs
@@ -67,11 +67,6 @@ ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 INSTRUMENTATIONDEFINES	 = -finstrument-functions \
 			   -ffixed-r10
 
-#CMSIS
-CMSIS_INCLUDE = $(TOPDIR)/../CMSIS/Include
-CMSIS_LIB = $(TOPDIR)/../CMSIS/Lib/GCC/libarm_cortexM4lf_math.a
-EXTRA_LIBS		+= $(CMSIS_LIB)
-
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
 EXTRA_LIBS		+= $(LIBM)