diff --git a/matrix/AxisAngle.hpp b/matrix/AxisAngle.hpp
index b86a57930f..e95c046514 100644
--- a/matrix/AxisAngle.hpp
+++ b/matrix/AxisAngle.hpp
@@ -37,7 +37,7 @@ public:
      *
      * @param data_ array
      */
-    AxisAngle(const Type data_[3]) :
+    explicit AxisAngle(const Type data_[3]) :
         Vector<Type, 3>(data_)
     {
     }
diff --git a/matrix/Dcm.hpp b/matrix/Dcm.hpp
index 31ea35da5c..9a1c6524b2 100644
--- a/matrix/Dcm.hpp
+++ b/matrix/Dcm.hpp
@@ -56,7 +56,16 @@ public:
      *
      * @param _data pointer to array
      */
-    Dcm(const Type *data_) : SquareMatrix<Type, 3>(data_)
+    explicit Dcm(const Type data_[3][3]) : SquareMatrix<Type, 3>(data_)
+    {
+    }
+
+    /**
+     * Constructor from array
+     *
+     * @param _data pointer to array
+     */
+    explicit Dcm(const Type data_[3*3]) : SquareMatrix<Type, 3>(data_)
     {
     }
 
diff --git a/matrix/Matrix.hpp b/matrix/Matrix.hpp
index 15d042e969..79831f7a7b 100644
--- a/matrix/Matrix.hpp
+++ b/matrix/Matrix.hpp
@@ -41,12 +41,12 @@ public:
     // Constructors
     Matrix() = default;
 
-    Matrix(const Type data_[M*N])
+    explicit Matrix(const Type data_[M*N])
     {
         memcpy(_data, data_, sizeof(_data));
     }
 
-    Matrix(const Type data_[M][N])
+    explicit Matrix(const Type data_[M][N])
     {
         memcpy(_data, data_, sizeof(_data));
     }
diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index ffa00b602b..a99a290f52 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -61,7 +61,7 @@ public:
      *
      * @param data_ array
      */
-    Quaternion(const Type data_[4]) :
+    explicit Quaternion(const Type data_[4]) :
         Vector<Type, 4>(data_)
     {
     }
diff --git a/matrix/SquareMatrix.hpp b/matrix/SquareMatrix.hpp
index 6a8ed55606..aaface6627 100644
--- a/matrix/SquareMatrix.hpp
+++ b/matrix/SquareMatrix.hpp
@@ -28,7 +28,12 @@ class SquareMatrix : public Matrix<Type, M, M>
 public:
     SquareMatrix() = default;
 
-    SquareMatrix(const Type data_[M][M]) :
+    explicit SquareMatrix(const Type data_[M][M]) :
+        Matrix<Type, M, M>(data_)
+    {
+    }
+
+    explicit SquareMatrix(const Type data_[M*M]) :
         Matrix<Type, M, M>(data_)
     {
     }
diff --git a/matrix/Vector.hpp b/matrix/Vector.hpp
index edac621ca6..e46247539f 100644
--- a/matrix/Vector.hpp
+++ b/matrix/Vector.hpp
@@ -29,7 +29,7 @@ public:
     {
     }
 
-    Vector(const Type data_[M]) :
+    explicit Vector(const Type data_[M]) :
         MatrixM1(data_)
     {
     }
diff --git a/matrix/Vector2.hpp b/matrix/Vector2.hpp
index 5e209bbbf2..4ca5023ad1 100644
--- a/matrix/Vector2.hpp
+++ b/matrix/Vector2.hpp
@@ -31,7 +31,7 @@ public:
     {
     }
 
-    Vector2(const Type data_[2]) :
+    explicit Vector2(const Type data_[2]) :
         Vector<Type, 2>(data_)
     {
     }
diff --git a/matrix/Vector3.hpp b/matrix/Vector3.hpp
index 4f2de37f0b..e449b2657f 100644
--- a/matrix/Vector3.hpp
+++ b/matrix/Vector3.hpp
@@ -39,7 +39,7 @@ public:
     {
     }
 
-    Vector3(const Type data_[3]) :
+    explicit Vector3(const Type data_[3]) :
         Vector<Type, 3>(data_)
     {
     }
diff --git a/test/attitude.cpp b/test/attitude.cpp
index becb39602f..00f7a6fb6a 100644
--- a/test/attitude.cpp
+++ b/test/attitude.cpp
@@ -4,11 +4,10 @@
 
 using namespace matrix;
 
-namespace matrix {
-
 // manually instantiated all files we intend to test
 // so that coverage works correctly
 // doesn't matter what test this is in
+namespace matrix {
 template class Matrix<float, 3, 3>;
 template class Vector3<float>;
 template class Vector2<float>;
@@ -17,13 +16,10 @@ template class Quaternion<float>;
 template class AxisAngle<float>;
 template class Scalar<float>;
 template class SquareMatrix<float, 4>;
-
 }
 
 int main()
 {
-
-
     // check data
     Eulerf euler_check(0.1f, 0.2f, 0.3f);
     Quatf q_check(0.98334744f, 0.0342708f, 0.10602051f, .14357218f);