Use std abs() instead of ABS() macro

Changes uses of ABS() macro to <stdlib.h> abs() and <math.h> fabsf()

src/main/common/maths.c

@@ -19,6 +19,7 @@
  */
 
 #include <stdint.h>
+#include <stdlib.h>
 #include <math.h>
 
 #include "platform.h"
@@ -117,7 +118,7 @@ int gcd(int num, int denom)
 
 int32_t applyDeadband(const int32_t value, const int32_t deadband)
 {
-    if (ABS(value) < deadband) {
+    if (abs(value) < deadband) {
         return 0;
     }
 

src/main/common/time.c

@@ -25,6 +25,7 @@
  */
 
 #include <stdint.h>
+#include <stdlib.h>
 
 #include "platform.h"
 
@@ -150,7 +151,7 @@ static bool dateTimeFormat(char *buf, dateTime_t *dateTime, int16_t offsetMinute
     // Apply offset if necessary
     if (offsetMinutes != 0) {
         tz_hours = offsetMinutes / 60;
-        tz_minutes = ABS(offsetMinutes % 60);
+        tz_minutes = abs(offsetMinutes % 60);
         dateTimeWithOffset(&local, dateTime, offsetMinutes);
         dateTime = &local;
     }
@@ -172,7 +173,7 @@ static bool dateTimeFormat(char *buf, dateTime_t *dateTime, int16_t offsetMinute
         tfp_sprintf(buf, "%04u-%02u-%02uT%02u:%02u:%02u.%03u%c%02d:%02d",
             dateTime->year, dateTime->month, dateTime->day,
             dateTime->hours, dateTime->minutes, dateTime->seconds, dateTime->millis,
-            tz_hours >= 0 ? '+' : '-', ABS(tz_hours), tz_minutes);
+            tz_hours >= 0 ? '+' : '-', abs(tz_hours), tz_minutes);
     }
 
     return retVal;

src/main/common/typeconversion.c

@@ -19,6 +19,7 @@
  */
 
 #include <stdint.h>
+#include <stdlib.h>
 #include <string.h>
 #include <math.h>
 
@@ -166,7 +167,7 @@ char *ftoa(float x, char *floatString)
 
     value = (int32_t)(x * 1000.0f);    // Convert float * 1000 to an integer
 
-    itoa(ABS(value), intString1, 10);   // Create string from abs of integer value
+    itoa(abs(value), intString1, 10);   // Create string from abs of integer value
 
     if (value >= 0)
         intString2[0] = ' ';    // Positive number, add a pad space

src/main/fc/core.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <string.h>
 #include <math.h>
 
@@ -741,7 +742,7 @@ int8_t calculateThrottlePercent(void)
 
 uint8_t calculateThrottlePercentAbs(void)
 {
-    return ABS(calculateThrottlePercent());
+    return abs(calculateThrottlePercent());
 }
 
 static bool airmodeIsActivated;

src/main/fc/rc.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <math.h>
 
 #include "platform.h"
@@ -463,7 +464,7 @@ static FAST_CODE void processRcSmoothingFilter(void)
                         // During initial training process all samples.
                         // During retraining check samples to determine if they vary by more than the limit percentage.
                         if (rcSmoothingData.filterInitialized) {
-                            const float percentChange = (ABS(currentRxRefreshRate - rcSmoothingData.averageFrameTimeUs) / (float)rcSmoothingData.averageFrameTimeUs) * 100;
+                            const float percentChange = (abs(currentRxRefreshRate - rcSmoothingData.averageFrameTimeUs) / (float)rcSmoothingData.averageFrameTimeUs) * 100;
                             if (percentChange < RC_SMOOTHING_RX_RATE_CHANGE_PERCENT) {
                                 // We received a sample that wasn't more than the limit percent so reset the accumulation
                                 // During retraining we need a contiguous block of samples that are all significantly different than the current average
@@ -601,7 +602,7 @@ FAST_CODE_NOINLINE void updateRcCommands(void)
     for (int axis = 0; axis < 3; axis++) {
         // non coupled PID reduction scaler used in PID controller 1 and PID controller 2.
 
-        float tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
+        float tmp = MIN(fabsf(rcData[axis] - rxConfig()->midrc), 500.0f);
         if (axis == ROLL || axis == PITCH) {
             if (tmp > rcControlsConfig()->deadband) {
                 tmp -= rcControlsConfig()->deadband;

src/main/fc/rc_controls.c

@@ -20,8 +20,8 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <string.h>
-
 #include <math.h>
 
 #include "platform.h"
@@ -410,9 +410,8 @@ void processRcStickPositions()
 #endif
 }
 
-int32_t getRcStickDeflection(int32_t axis, uint16_t midrc)
-{
-    return MIN(ABS(rcData[axis] - midrc), 500);
+int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
+    return MIN(abs((int32_t)rcData[axis] - midrc), 500);
 }
 
 void rcControlsInit(void)

src/main/flight/gps_rescue.c

@@ -16,6 +16,7 @@
  */
 
 #include <stdint.h>
+#include <stdlib.h>
 #include <math.h>
 
 #include "platform.h"
@@ -351,7 +352,7 @@ static void rescueAttainPosition()
     rescueYaw = constrainf(rescueYaw, -GPS_RESCUE_MAX_YAW_RATE, GPS_RESCUE_MAX_YAW_RATE);
     // rescueYaw is the yaw rate in deg/s to correct the heading error
 
-    const float rollMixAttenuator = constrainf(1.0f - ABS(rescueYaw) * 0.01f, 0.0f, 1.0f);
+    const float rollMixAttenuator = constrainf(1.0f - fabsf(rescueYaw) * 0.01f, 0.0f, 1.0f);
     // less roll at higher yaw rates, no roll at 100 deg/s of yaw
     const float rollAdjustment = -rescueYaw * gpsRescueConfig()->rollMix * rollMixAttenuator;
     // if rollMix = 100, the roll:yaw ratio is 1:1 at small angles, reducing linearly to zero when the yaw rate is 100 deg/s

src/main/flight/imu.c

@@ -22,6 +22,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <math.h>
 
 #include "platform.h"
@@ -656,7 +657,7 @@ void imuSetHasNewData(uint32_t dt)
 
 bool imuQuaternionHeadfreeOffsetSet(void)
 {
-    if ((ABS(attitude.values.roll) < 450)  && (ABS(attitude.values.pitch) < 450)) {
+    if ((abs(attitude.values.roll) < 450)  && (abs(attitude.values.pitch) < 450)) {
         const float yaw = -atan2_approx((+2.0f * (qP.wz + qP.xy)), (+1.0f - 2.0f * (qP.yy + qP.zz)));
 
         offset.w = cos_approx(yaw/2);

src/main/flight/mixer.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <math.h>
 #include <float.h>
 
@@ -447,7 +448,7 @@ static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnable
         if (mixerConfig()->mixer_type == MIXER_LINEAR) {
             motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + motorMixDelta, motorMix[i] - motorMixDelta);
         } else {
-            motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + ABS(motorMix[i]), motorMix[i] - ABS(motorMix[i]));
+            motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + fabsf(motorMix[i]), motorMix[i] - fabsf(motorMix[i]));
         }
         motorMix[i] *= motorMixNormalizationFactor;
 

src/main/flight/pid.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <string.h>
 #include <math.h>
 
@@ -373,7 +374,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float calcHorizonLevelStrength()
     float horizonLevelStrength = 1.0f - MAX(fabsf(getLevelModeRcDeflection(FD_ROLL)), fabsf(getLevelModeRcDeflection(FD_PITCH)));
 
     // 0 at level, 90 at vertical, 180 at inverted (degrees):
-    const float currentInclination = MAX(ABS(attitude.values.roll), ABS(attitude.values.pitch)) / 10.0f;
+    const float currentInclination = MAX(abs(attitude.values.roll), abs(attitude.values.pitch)) / 10.0f;
 
     // horizonTiltExpertMode:  0 = leveling always active when sticks centered,
     //                         1 = leveling can be totally off when inverted
@@ -480,8 +481,8 @@ static void handleCrashRecovery(
                    && fabsf(gyro.gyroADCf[FD_YAW]) < pidRuntime.crashRecoveryRate)) {
             if (sensors(SENSOR_ACC)) {
                 // check aircraft nearly level
-                if (ABS(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < pidRuntime.crashRecoveryAngleDeciDegrees
-                   && ABS(attitude.raw[FD_PITCH] - angleTrim->raw[FD_PITCH]) < pidRuntime.crashRecoveryAngleDeciDegrees) {
+                if (abs(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < pidRuntime.crashRecoveryAngleDeciDegrees
+                   && abs(attitude.raw[FD_PITCH] - angleTrim->raw[FD_PITCH]) < pidRuntime.crashRecoveryAngleDeciDegrees) {
                     pidRuntime.inCrashRecoveryMode = false;
                     BEEP_OFF;
                 }

src/main/io/ledstrip.c

@@ -901,7 +901,7 @@ static int brightnessForLarsonIndex(larsonParameters_t *larsonParameters, uint8_
     int offset = larsonIndex - larsonParameters->currentIndex;
     static const int larsonLowValue = 8;
 
-    if (ABS(offset) > 1)
+    if (abs(offset) > 1)
         return (larsonLowValue);
 
     if (offset == 0)

src/main/osd/osd.c

@@ -219,7 +219,7 @@ int osdPrintFloat(char *buffer, char leadingSymbol, float value, char *formatStr
     }
 
     value *= multiplier;
-    const int scaledValueAbs = ABS(round ? lrintf(value) : value);
+    const int scaledValueAbs = abs(round ? (int)lrintf(value) : (int)value);
     const int integerPart = scaledValueAbs / multiplier;
     const int fractionalPart = scaledValueAbs % multiplier;
 

src/main/osd/osd_elements.c

@@ -332,8 +332,8 @@ static void osdFormatCoordinate(char *buff, gpsCoordinateType_e coordinateType,
         gpsValue = (coordinateType == GPS_LONGITUDE) ? gpsSol.llh.lon : gpsSol.llh.lat;
     }
 
-    const int degreesPart = ABS(gpsValue) / GPS_DEGREES_DIVIDER;
-    int fractionalPart = ABS(gpsValue) % GPS_DEGREES_DIVIDER;
+    const int degreesPart = abs(gpsValue) / GPS_DEGREES_DIVIDER;
+    int fractionalPart = abs(gpsValue) % GPS_DEGREES_DIVIDER;
 
     switch (variantType) {
 #ifdef USE_GPS_PLUS_CODES
@@ -719,7 +719,7 @@ static void osdElementUpDownReference(osdElementParms_t *element)
 // Up/Down reference feature displays reference points on the OSD at Zenith and Nadir
     const float earthUpinBodyFrame[3] = {-rMat[2][0], -rMat[2][1], -rMat[2][2]}; //transforum the up vector to the body frame
 
-    if (ABS(earthUpinBodyFrame[2]) < SINE_25_DEG && ABS(earthUpinBodyFrame[1]) < SINE_25_DEG) { 
+    if (fabsf(earthUpinBodyFrame[2]) < SINE_25_DEG && fabsf(earthUpinBodyFrame[1]) < SINE_25_DEG) { 
         float thetaB; // pitch from body frame to zenith/nadir
         float psiB; // psi from body frame to zenith/nadir
         char *symbol[2] = {"U", "D"}; // character buffer

src/main/rx/expresslrs.c

@@ -28,6 +28,7 @@
  * Phobos- - Port of v2.0
  */
 
+#include <stdlib.h>
 #include <string.h>
 #include "platform.h"
 
@@ -976,15 +977,15 @@ static void handleConnectionStateUpdate(const uint32_t timeStampMs)
         lostConnection();
     }
 
-    if ((receiver.connectionState == ELRS_TENTATIVE) && (ABS(pl.offsetDeltaUs) <= 10) && (pl.offsetUs < 100) && (lqGet() > minLqForChaos())) {
+    if ((receiver.connectionState == ELRS_TENTATIVE) && (abs(pl.offsetDeltaUs) <= 10) && (pl.offsetUs < 100) && (lqGet() > minLqForChaos())) {
         gotConnection(timeStampMs); // detects when we are connected
     }
 
-    if ((receiver.timerState == ELRS_TIM_TENTATIVE) && ((timeStampMs - receiver.gotConnectionMs) > ELRS_CONSIDER_CONNECTION_GOOD_MS) && (ABS(pl.offsetDeltaUs) <= 5)) {
+    if ((receiver.timerState == ELRS_TIM_TENTATIVE) && ((timeStampMs - receiver.gotConnectionMs) > ELRS_CONSIDER_CONNECTION_GOOD_MS) && (abs(pl.offsetDeltaUs) <= 5)) {
         receiver.timerState = ELRS_TIM_LOCKED;
     }
 
-    if ((receiver.connectionState == ELRS_CONNECTED) && (ABS(pl.offsetDeltaUs) > 10) && (pl.offsetUs >= 100) && (lqGet() <= minLqForChaos())) {
+    if ((receiver.connectionState == ELRS_CONNECTED) && (abs(pl.offsetDeltaUs) > 10) && (pl.offsetUs >= 100) && (lqGet() <= minLqForChaos())) {
         lostConnection(); // SPI: resync when we're in chaos territory
     }
 }

src/main/sensors/battery.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <math.h>
 
 #include "platform.h"
@@ -183,7 +184,7 @@ static void updateBatteryBeeperAlert(void)
 
 static bool isVoltageStable(void)
 {
-    return ABS(voltageMeter.displayFiltered - voltageMeter.unfiltered) <= VBAT_STABLE_MAX_DELTA;
+    return abs(voltageMeter.displayFiltered - voltageMeter.unfiltered) <= VBAT_STABLE_MAX_DELTA;
 }
 
 static bool isVoltageFromBat(void)

src/main/telemetry/frsky_hub.c

@@ -26,6 +26,7 @@
 #include <stddef.h>
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 
 #include "platform.h"
 
@@ -241,7 +242,7 @@ static void GPStoDDDMM_MMMM(int32_t mwiigps, gpsCoordinateDDDMMmmmm_t *result)
 {
     int32_t absgps, deg, min;
 
-    absgps = ABS(mwiigps);
+    absgps = abs(mwiigps);
     deg    = absgps / GPS_DEGREES_DIVIDER;
     absgps = (absgps - deg * GPS_DEGREES_DIVIDER) * 60;        // absgps = Minutes left * 10^7
     min    = absgps / GPS_DEGREES_DIVIDER;                     // minutes left

src/main/telemetry/jetiexbus.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <string.h>
 
 #include "platform.h"
@@ -288,7 +289,7 @@ void createExTelemetryTextMessage(uint8_t *exMessage, uint8_t messageID, const e
 
 uint32_t calcGpsDDMMmmm(int32_t value, bool isLong)
 {
-    uint32_t absValue = ABS(value);
+    uint32_t absValue = abs(value);
     uint16_t deg16 = absValue / GPS_DEGREES_DIVIDER;
     uint16_t min16 = (absValue - deg16 * GPS_DEGREES_DIVIDER) * 6 / 1000;
 

src/main/telemetry/srxl.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
 #include <string.h>
 
 #include "platform.h"
@@ -242,7 +243,7 @@ bool srxlFrameRpm(sbuf_t *dst, timeUs_t currentTimeUs)
 static void GPStoDDDMM_MMMM(int32_t mwiigps, gpsCoordinateDDDMMmmmm_t *result)
 {
     int32_t absgps, deg, min;
-    absgps = ABS(mwiigps);
+    absgps = abs(mwiigps);
     deg = absgps / GPS_DEGREES_DIVIDER;
     absgps = (absgps - deg * GPS_DEGREES_DIVIDER) * 60;     // absgps = Minutes left * 10^7
     min = absgps / GPS_DEGREES_DIVIDER;                     // minutes left
@@ -308,7 +309,7 @@ bool srxlFrameGpsLoc(sbuf_t *dst, timeUs_t currentTimeUs)
     longitudeBcd = (dec2bcd(coordinate.dddmm) << 16) | dec2bcd(coordinate.mmmm);
 
     // altitude (low order)
-    altitudeLo = ABS(gpsSol.llh.altCm) / 10;
+    altitudeLo = abs(gpsSol.llh.altCm) / 10;
     altitudeLoBcd = dec2bcd(altitudeLo % 100000);
 
     // Ground course