diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index d8cd6154b34..2a1937d7a0b 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -257,7 +257,6 @@ float wrap_2PI(const float radian)
     return res;
 }
 
-#if AP_MATH_ALLOW_DOUBLE_FUNCTIONS
 double wrap_2PI(const double radian)
 {
     double res = fmod(radian, M_2PI);
@@ -266,7 +265,6 @@ double wrap_2PI(const double radian)
     }
     return res;
 }
-#endif
 
 template <typename T>
 T wrap_PI(const T radian)
@@ -279,9 +277,7 @@ T wrap_PI(const T radian)
 }
 
 template float wrap_PI<float>(const float radian);
-#if AP_MATH_ALLOW_DOUBLE_FUNCTIONS
 template double wrap_PI<double>(const double radian);
-#endif
 
 template <typename T>
 T constrain_value_line(const T amt, const T low, const T high, uint32_t line)
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 80db365db6a..7ca1500071e 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -158,9 +158,7 @@ double wrap_360_cd(const double angle);
   wrap an angle in radians to 0..2PI
  */
 float wrap_2PI(const float radian);
-#if AP_MATH_ALLOW_DOUBLE_FUNCTIONS
 double wrap_2PI(const double radian);
-#endif
 
 /*
   wrap an angle in radians to -PI ~ PI (equivalent to +- 180 degrees)