diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 26a3538efa..62487f9a69 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1839,7 +1839,7 @@ void AP_GPS::calc_blended_state(void)
     state[GPS_BLENDED_INSTANCE].location.alt += (int)blended_alt_offset_cm;
 
     // Calculate ground speed and course from blended velocity vector
-    state[GPS_BLENDED_INSTANCE].ground_speed = norm(state[GPS_BLENDED_INSTANCE].velocity.x, state[GPS_BLENDED_INSTANCE].velocity.y);
+    state[GPS_BLENDED_INSTANCE].ground_speed = state[GPS_BLENDED_INSTANCE].velocity.xy().length();
     state[GPS_BLENDED_INSTANCE].ground_course = wrap_360(degrees(atan2f(state[GPS_BLENDED_INSTANCE].velocity.y, state[GPS_BLENDED_INSTANCE].velocity.x)));
 
     // If the GPS week is the same then use a blended time_week_ms
diff --git a/libraries/AP_GPS/AP_GPS_ExternalAHRS.cpp b/libraries/AP_GPS/AP_GPS_ExternalAHRS.cpp
index 928eb1942c..bd9c910c79 100644
--- a/libraries/AP_GPS/AP_GPS_ExternalAHRS.cpp
+++ b/libraries/AP_GPS/AP_GPS_ExternalAHRS.cpp
@@ -68,7 +68,7 @@ void AP_GPS_ExternalAHRS::handle_external(const AP_ExternalAHRS::gps_data_messag
     state.velocity.z = pkt.ned_vel_down;
 
     state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x)));
-    state.ground_speed = norm(state.velocity.y, state.velocity.x);
+    state.ground_speed = state.velocity.xy().length();
 
     state.have_speed_accuracy = true;
     state.have_horizontal_accuracy = true;
diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp
index 2e49e81be6..62cc13da76 100644
--- a/libraries/AP_GPS/AP_GPS_MAV.cpp
+++ b/libraries/AP_GPS/AP_GPS_MAV.cpp
@@ -86,7 +86,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
 
                 state.velocity = vel;
                 state.ground_course = wrap_360(degrees(atan2f(vel.y, vel.x)));
-                state.ground_speed = norm(vel.x, vel.y);
+                state.ground_speed = vel.xy().length();
             }
 
             if (have_sa) {
diff --git a/libraries/AP_GPS/AP_GPS_MSP.cpp b/libraries/AP_GPS/AP_GPS_MSP.cpp
index 16ce23a5de..c3a807fc0c 100644
--- a/libraries/AP_GPS/AP_GPS_MSP.cpp
+++ b/libraries/AP_GPS/AP_GPS_MSP.cpp
@@ -66,7 +66,7 @@ void AP_GPS_MSP::handle_msp(const MSP::msp_gps_data_message_t &pkt)
     state.velocity = vel;
 
     state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x)));
-    state.ground_speed = norm(state.velocity.y, state.velocity.x);
+    state.ground_speed = state.velocity.xy().length();
 
     state.have_speed_accuracy = true;
     state.have_horizontal_accuracy = true;
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
index e7c4fcdd95..a04771cf5d 100644
--- a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
@@ -394,7 +394,7 @@ void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
         if (!uavcan::isNaN(cb.msg->ned_velocity[0])) {
             Vector3f vel(cb.msg->ned_velocity[0], cb.msg->ned_velocity[1], cb.msg->ned_velocity[2]);
             interim_state.velocity = vel;
-            interim_state.ground_speed = norm(vel.x, vel.y);
+            interim_state.ground_speed = vel.xy().length();
             interim_state.ground_course = wrap_360(degrees(atan2f(vel.y, vel.x)));
             interim_state.have_vertical_velocity = true;
         } else {
@@ -518,7 +518,7 @@ void AP_GPS_UAVCAN::handle_fix2_msg(const Fix2Cb &cb)
         if (!uavcan::isNaN(cb.msg->ned_velocity[0])) {
             Vector3f vel(cb.msg->ned_velocity[0], cb.msg->ned_velocity[1], cb.msg->ned_velocity[2]);
             interim_state.velocity = vel;
-            interim_state.ground_speed = norm(vel.x, vel.y);
+            interim_state.ground_speed = vel.xy().length();
             interim_state.ground_course = wrap_360(degrees(atan2f(vel.y, vel.x)));
             interim_state.have_vertical_velocity = true;
         } else {
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 420c65fdcb..6845696c09 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1499,7 +1499,7 @@ AP_GPS_UBLOX::_parse_gps(void)
         state.velocity.y = _buffer.velned.ned_east * 0.01f;
         state.velocity.z = _buffer.velned.ned_down * 0.01f;
         state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x)));
-        state.ground_speed = norm(state.velocity.y, state.velocity.x);
+        state.ground_speed = state.velocity.xy().length();
         state.have_speed_accuracy = true;
         state.speed_accuracy = _buffer.velned.speed_accuracy*0.01f;
 #if UBLOX_FAKE_3DLOCK