diff --git a/upstream_utils/update_gcem.py b/upstream_utils/update_gcem.py
index ad1cb5a436..99ff01a619 100755
--- a/upstream_utils/update_gcem.py
+++ b/upstream_utils/update_gcem.py
@@ -13,7 +13,7 @@ from upstream_utils import (
 
 
 def main():
-    upstream_root = clone_repo("https://github.com/kthohr/gcem.git", "v1.16.0")
+    upstream_root = clone_repo("https://github.com/kthohr/gcem.git", "v1.17.0")
     wpilib_root = get_repo_root()
     wpimath = os.path.join(wpilib_root, "wpimath")
 
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem.hpp
index cb28ff0c45..650d05d894 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/abs.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/abs.hpp
index 0a3ada698a..6d7b66d91b 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/abs.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/abs.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acos.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acos.hpp
index 9d3bc07964..a47003d61d 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acos.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acos.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acosh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acosh.hpp
index 79579d7136..8767200778 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acosh.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/acosh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asin.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asin.hpp
index 210d9fc902..6a79e87df4 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asin.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asin.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asinh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asinh.hpp
index dfad57e5c6..a5f3ff62a0 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asinh.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/asinh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan.hpp
index 9aea85b708..3f46974c07 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan2.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan2.hpp
index 97c8d6a96f..5ca55b79c8 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan2.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atan2.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atanh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atanh.hpp
index 2e1cb7631a..dfb4dc312d 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atanh.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/atanh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/beta.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/beta.hpp
index e888e4729f..e43d4fcd9a 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/beta.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/beta.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/binomial_coef.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/binomial_coef.hpp
index fb050a2cca..0fc17f384d 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/binomial_coef.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/binomial_coef.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/ceil.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/ceil.hpp
index e8570ab3c0..ff1097bac2 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/ceil.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/ceil.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/copysign.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/copysign.hpp
index a3bab7455d..c1741f7f32 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/copysign.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/copysign.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cos.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cos.hpp
index 0e98012228..82f4c609f5 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cos.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cos.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cosh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cosh.hpp
index b3cebb8813..fc89c0d064 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cosh.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/cosh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf.hpp
index afec09e915..d0bc83ada1 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf_inv.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf_inv.hpp
index a93f8db7c5..412d686be2 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf_inv.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/erf_inv.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/exp.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/exp.hpp
index 0c6682962f..595ffc2a62 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/exp.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/exp.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -28,6 +28,30 @@
 namespace internal
 {
 
+// see https://en.wikipedia.org/wiki/Euler%27s_continued_fraction_formula
+
+#if __cplusplus >= 201402L // C++14 version
+
+template<typename T>
+constexpr
+T
+exp_cf_recur(const T x, const int depth_end)
+noexcept
+{
+    int depth = GCEM_EXP_MAX_ITER_SMALL - 1;
+    T res = T(1);
+
+    while (depth > depth_end - 1) {
+        res = T(1) + x/T(depth - 1) - x/depth/res;
+
+        --depth;
+    }
+
+    return res;
+}
+
+#else // C++11 version
+
 template<typename T>
 constexpr
 T
@@ -36,20 +60,20 @@ noexcept
 {
     return( depth < GCEM_EXP_MAX_ITER_SMALL ? \
             // if
-                depth == 1 ? \
-                    T(1) - x/exp_cf_recur(x,depth+1) : 
-                    T(1) + x/T(depth - 1) - x/depth/exp_cf_recur(x,depth+1) : 
+                T(1) + x/T(depth - 1) - x/depth/exp_cf_recur(x,depth+1) : 
              // else
                 T(1) );
 }
 
+#endif
+
 template<typename T>
 constexpr
 T
 exp_cf(const T x)
 noexcept
 {
-    return( T(1)/exp_cf_recur(x,1) );
+    return( T(1) / (T(1) - x / exp_cf_recur(x,2)) );
 }
 
 template<typename T>
@@ -72,7 +96,7 @@ noexcept
             //
             is_neginf(x) ? \
                 T(0) :
-            //
+            // indistinguishable from zero
             GCLIM<T>::min() > abs(x) ? \
                 T(1) : 
             //
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/expm1.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/expm1.hpp
index 11b2eb9f06..70c9ecf5a4 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/expm1.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/expm1.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/factorial.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/factorial.hpp
index 539c3f302d..ffb9c82475 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/factorial.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/factorial.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_exponent.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_exponent.hpp
index 710adcedc1..200e4e9be1 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_exponent.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_exponent.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -34,10 +34,20 @@ llint_t
 find_exponent(const T x, const llint_t exponent)
 noexcept
 {
-    return( x < T(1)  ? \
-                find_exponent(x*T(10),exponent - llint_t(1)) :
+    return( // < 1
+            x < T(1e-03)  ? \
+                find_exponent(x * T(1e+04), exponent - llint_t(4)) :
+            x < T(1e-01)  ? \
+                find_exponent(x * T(1e+02), exponent - llint_t(2)) :
+            x < T(1)  ? \
+                find_exponent(x * T(10), exponent - llint_t(1)) :
+            // > 10
             x > T(10) ? \
-                find_exponent(x/T(10),exponent + llint_t(1)) :
+                find_exponent(x / T(10), exponent + llint_t(1)) :
+            x > T(1e+02) ? \
+                find_exponent(x / T(1e+02), exponent + llint_t(2)) :
+            x > T(1e+04) ? \
+                find_exponent(x / T(1e+04), exponent + llint_t(4)) :
             // else
                 exponent );
 }
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_fraction.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_fraction.hpp
index d9769e6853..5ed3d269ab 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_fraction.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_fraction.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_whole.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_whole.hpp
index bd5e0b9ce3..d193632198 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_whole.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/find_whole.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/floor.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/floor.hpp
index c60ff6ace8..8b260ff8a1 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/floor.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/floor.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/fmod.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/fmod.hpp
index c804ce63e4..02459efd4b 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/fmod.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/fmod.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcd.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcd.hpp
index 4a10bbe264..1e277fbab6 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcd.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcd.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcem_options.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcem_options.hpp
index cd2747cf1c..4113738145 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcem_options.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/gcem_options.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -53,7 +53,7 @@
 #endif
 
 #ifndef GCEM_VERSION_MINOR
-    #define GCEM_VERSION_MINOR 16
+    #define GCEM_VERSION_MINOR 17
 #endif
 
 #ifndef GCEM_VERSION_PATCH
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/hypot.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/hypot.hpp
index 5a805ed76b..01ad4e9212 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/hypot.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/hypot.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta.hpp
index 5645dbef53..dbb9f60341 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta_inv.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta_inv.hpp
index f7fdfa0960..9f575a3604 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta_inv.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_beta_inv.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma.hpp
index 38734a52a2..9ee4146de0 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma_inv.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma_inv.hpp
index 1e57fc14fc..e5976d08fd 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma_inv.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/incomplete_gamma_inv.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/inv_sqrt.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/inv_sqrt.hpp
index 0200f115dc..d0e33fb743 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/inv_sqrt.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/inv_sqrt.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_even.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_even.hpp
index fa925bb958..de0641d852 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_even.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_even.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_finite.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_finite.hpp
index 25f2e3c240..b632fa3472 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_finite.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_finite.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_inf.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_inf.hpp
index 627c5099ec..568614f8ef 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_inf.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_inf.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_nan.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_nan.hpp
index a7a1af3389..a3fcbc6c7c 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_nan.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_nan.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_odd.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_odd.hpp
index e6da720977..a74a8d34f2 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_odd.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/is_odd.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lbeta.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lbeta.hpp
index 2213849c16..60c87b4f53 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lbeta.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lbeta.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lcm.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lcm.hpp
index b0d8fb4b72..a7ca7766f8 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lcm.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lcm.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lgamma.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lgamma.hpp
index 5d78eb31b0..507c6d4c91 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lgamma.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lgamma.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lmgamma.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lmgamma.hpp
index 76bf833d06..58915dc1e1 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lmgamma.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/lmgamma.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log.hpp
index 0d83e97940..c2e24b006c 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -31,6 +31,28 @@ namespace internal
 // continued fraction seems to be a better approximation for small x
 // see http://functions.wolfram.com/ElementaryFunctions/Log/10/0005/
 
+#if __cplusplus >= 201402L // C++14 version
+
+template<typename T>
+constexpr
+T
+log_cf_main(const T xx, const int depth_end)
+noexcept
+{
+    int depth = GCEM_LOG_MAX_ITER_SMALL - 1;
+    T res = T(2*(depth+1) - 1);
+
+    while (depth > depth_end - 1) {
+        res = T(2*depth - 1) - T(depth*depth) * xx / res;
+
+        --depth;
+    }
+
+    return res;
+}
+
+#else // C++11 version
+
 template<typename T>
 constexpr
 T
@@ -39,11 +61,13 @@ noexcept
 {
     return( depth < GCEM_LOG_MAX_ITER_SMALL ? \
             // if 
-                T(2*depth - 1) - T(depth*depth)*xx/log_cf_main(xx,depth+1) :
+                T(2*depth - 1) - T(depth*depth) * xx / log_cf_main(xx,depth+1) :
             // else 
                 T(2*depth - 1) );
 }
 
+#endif
+
 template<typename T>
 constexpr
 T
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log10.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log10.hpp
index 4a3c37df40..cda8894fdd 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log10.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log10.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log1p.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log1p.hpp
index 3883b2298b..ccd08b8cb8 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log1p.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log1p.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log2.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log2.hpp
index 56b7f8e71f..a97fed4c72 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log2.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log2.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log_binomial_coef.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log_binomial_coef.hpp
index 7aa9a2b4df..2bcaadd8bc 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log_binomial_coef.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/log_binomial_coef.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/mantissa.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/mantissa.hpp
index df6152b222..af23ea21d2 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/mantissa.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/mantissa.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -35,9 +35,9 @@ mantissa(const T x)
 noexcept
 {
     return( x < T(1) ? \
-                mantissa(x*T(10)) : 
+                mantissa(x * T(10)) : 
             x > T(10) ? \
-                mantissa(x/T(10)) :
+                mantissa(x / T(10)) :
             // else
                 x );
 }
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/max.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/max.hpp
index 4aed84f167..ddc3e4e6ca 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/max.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/max.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/min.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/min.hpp
index d593dbc911..5ce70b38e6 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/min.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/min.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/neg_zero.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/neg_zero.hpp
index db33f87c9b..79d24a4dd5 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/neg_zero.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/neg_zero.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow.hpp
index 166a8c1f96..3891edef0e 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow_integral.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow_integral.hpp
index 3a902ca2f2..4e67155707 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow_integral.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/pow_integral.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_30.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_30.hpp
index e609b89c53..295f43d952 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_30.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_30.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_50.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_50.hpp
index 44281f9080..d4e448c56e 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_50.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/quadrature/gauss_legendre_50.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/round.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/round.hpp
index 43d7a5e09d..9ac4a09f0a 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/round.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/round.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sgn.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sgn.hpp
index 605a35abda..e2eec9e80b 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sgn.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sgn.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/signbit.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/signbit.hpp
index e207a5a1e1..282e244033 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/signbit.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/signbit.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sin.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sin.hpp
index 128cd321c7..56c8dcaf62 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sin.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sin.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sinh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sinh.hpp
index 5355301d8c..fe3ecdd0e7 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sinh.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sinh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sqrt.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sqrt.hpp
index 0fd559d052..1b2753c99e 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sqrt.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/sqrt.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
@@ -37,16 +37,37 @@ noexcept
     return( abs(xn - x/xn) / (T(1) + xn) < GCLIM<T>::min() ? \
             // if
                 xn :
-            count < GCEM_SQRT_MAX_ITER ? \
             // else
-                sqrt_recur(x, T(0.5)*(xn + x/xn), count+1) :
-                xn );
+                count < GCEM_SQRT_MAX_ITER ? \
+                // if
+                    sqrt_recur(x, T(0.5)*(xn + x/xn), count+1) :
+                // else
+                    xn );
 }
 
 template<typename T>
 constexpr
 T
-sqrt_check(const T x, const T m_val)
+sqrt_simplify(const T x, const T m_val)
+noexcept
+{
+    return( x > T(1e+08) ? \
+                sqrt_simplify(x / T(1e+08), T(1e+04) * m_val) :
+            x > T(1e+06) ? \
+                sqrt_simplify(x / T(1e+06), T(1e+03) * m_val) :
+            x > T(1e+04) ? \
+                sqrt_simplify(x / T(1e+04), T(1e+02) * m_val) :
+            x > T(100) ? \
+                sqrt_simplify(x / T(100), T(10) * m_val) :
+            x > T(4) ? \
+                sqrt_simplify(x / T(4), T(2) * m_val) :
+                m_val * sqrt_recur(x, x / T(2), 0) );
+}
+
+template<typename T>
+constexpr
+T
+sqrt_check(const T x)
 noexcept
 {
     return( is_nan(x) ? \
@@ -63,9 +84,7 @@ noexcept
             GCLIM<T>::min() > abs(T(1) - x) ? \
                 x :
             // else
-            x > T(4) ? \
-                sqrt_check(x/T(4), T(2)*m_val) :
-                m_val * sqrt_recur(x, x/T(2), 0) );
+            sqrt_simplify(x, T(1)) );
 }
 
 }
@@ -84,7 +103,7 @@ return_t<T>
 sqrt(const T x)
 noexcept
 {
-    return internal::sqrt_check( static_cast<return_t<T>>(x), return_t<T>(1) );
+    return internal::sqrt_check( static_cast<return_t<T>>(x) );
 }
 
 #endif
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tan.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tan.hpp
index e53f5c8f57..386cce0f41 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tan.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tan.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tanh.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tanh.hpp
index 109d751a82..30b4318866 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tanh.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tanh.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tgamma.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tgamma.hpp
index 5a9ae97012..deffd3a8e7 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tgamma.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/tgamma.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##
diff --git a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/trunc.hpp b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/trunc.hpp
index 4e19ef9946..af3f448915 100644
--- a/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/trunc.hpp
+++ b/wpimath/src/main/native/thirdparty/gcem/include/gcem_incl/trunc.hpp
@@ -1,6 +1,6 @@
 /*################################################################################
   ##
-  ##   Copyright (C) 2016-2022 Keith O'Hara
+  ##   Copyright (C) 2016-2023 Keith O'Hara
   ##
   ##   This file is part of the GCE-Math C++ library.
   ##