diff --git a/main/ugv_io.cc b/main/ugv_io.cc
index bea4277..373c83f 100644
--- a/main/ugv_io.cc
+++ b/main/ugv_io.cc
@@ -4,7 +4,7 @@
 #include <driver/mcpwm.h>
 #include <esp_log.h>
 
-#include <math.h>
+#include <cmath>
 
 namespace ugv {
 namespace io {
diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc
index 8bb4499..643e393 100644
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@@ -3,7 +3,7 @@
 #include <driver/uart.h>
 #include <esp_log.h>
 
-#include <math.h>
+#include <cmath>
 
 constexpr float M_PI = 3.1415926535897932384626433832795;