diff --git a/libuavcan/include/uavcan/marshal/float_spec.hpp b/libuavcan/include/uavcan/marshal/float_spec.hpp
index 2ee680f184..b77328f44a 100644
--- a/libuavcan/include/uavcan/marshal/float_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/float_spec.hpp
@@ -16,9 +16,7 @@
 #ifndef UAVCAN_CPP_VERSION
 # error UAVCAN_CPP_VERSION
 #endif
-#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
-# include <math.h>     // Needed for isfinite()
-#else
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
 # include <limits>     // Assuming that in C++11 mode all standard headers are available
 #endif
 
@@ -169,8 +167,7 @@ public:
 private:
     static inline void saturate(StorageType& value)
     {
-        using namespace std;
-        if ((IsExactRepresentation == 0) && isfinite(value))
+        if ((IsExactRepresentation == 0) && isFinite(value))
         {
             if (value > max())
             {
@@ -189,8 +186,7 @@ private:
 
     static inline void truncate(StorageType& value)
     {
-        using namespace std;
-        if ((IsExactRepresentation == 0) && isfinite(value))
+        if ((IsExactRepresentation == 0) && isFinite(value))
         {
             if (value > max())
             {
diff --git a/libuavcan/include/uavcan/util/templates.hpp b/libuavcan/include/uavcan/util/templates.hpp
index e25102790d..e2572ff3d3 100644
--- a/libuavcan/include/uavcan/util/templates.hpp
+++ b/libuavcan/include/uavcan/util/templates.hpp
@@ -470,6 +470,20 @@ inline bool isInfinity(T arg)
 #endif
 }
 
+/**
+ * Replacement for std::isfinite().
+ * Note that direct float comparison (==, !=) is intentionally avoided.
+ */
+template <typename T>
+inline bool isFinite(T arg)
+{
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+    return std::isfinite(arg);
+#else
+    return !isNaN(arg) && !isInfinity(arg);
+#endif
+}
+
 /**
  * Replacement for std::signbit().
  * Note that direct float comparison (==, !=) is intentionally avoided.