By default, the DS-5 GCC compiler sets the GCC compiler and assembler to use "Float ABI" of "softfp". Since this generates very slow floating point code (about 10 times slower than Zynq), I tried setting it to "hard". But the errors shown below.
I managed to change to ARM C Compiler 5 and it does in fact seem to use hardware floating point. It sets "Floating-point PCS" to "Hardware" and "--apcs=/hardfp".
I'm having trouble getting the FreeRTOS Cyclone V port to wort with it though.