diff --git a/matrix/AxisAngle.hpp b/matrix/AxisAngle.hpp
index 339651fe0a..c2aec911e1 100644
--- a/matrix/AxisAngle.hpp
+++ b/matrix/AxisAngle.hpp
@@ -7,7 +7,6 @@
 #pragma once
 
 #include "math.hpp"
-#include "helper_functions.hpp"
 
 namespace matrix
 {
diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index f543a1b929..2110ded9e3 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -29,7 +29,6 @@
 #pragma once
 
 #include "math.hpp"
-#include "helper_functions.hpp"
 
 namespace matrix
 {
diff --git a/matrix/SquareMatrix.hpp b/matrix/SquareMatrix.hpp
index 7b0a46023f..6a8ed55606 100644
--- a/matrix/SquareMatrix.hpp
+++ b/matrix/SquareMatrix.hpp
@@ -9,7 +9,6 @@
 #pragma once
 
 #include "math.hpp"
-#include "helper_functions.hpp"
 
 namespace matrix
 {
diff --git a/matrix/math.hpp b/matrix/math.hpp
index 9626b78d08..83da08c1fd 100644
--- a/matrix/math.hpp
+++ b/matrix/math.hpp
@@ -4,6 +4,7 @@
 #ifdef __PX4_QURT
 #include "dspal_math.h"
 #endif
+#include "helper_functions.hpp"
 #include "Matrix.hpp"
 #include "SquareMatrix.hpp"
 #include "Slice.hpp"
diff --git a/test/helper.cpp b/test/helper.cpp
index 91935eaffd..9883e72d77 100644
--- a/test/helper.cpp
+++ b/test/helper.cpp
@@ -1,5 +1,5 @@
 #include "test_macros.hpp"
-#include <matrix/helper_functions.hpp>
+#include <matrix/math.hpp>
 
 using namespace matrix;