FPU on Portenta H7 enabled?

I have been playing with the Portenta H7 for some DSP applications for a while now and now just realized I never cared if the FPU on the ARM processor is being used. If I am compiling with Arduino IDE, is there a way for me to force FPU being used for floating point math? I googled a bit and found this github issue

but I am not quite sure about the difference between hardfp and softfp. Could someone shed some light on this topic?

Thanks in advance!