Renamed min, max and abs macros to MIN MAX and ABS.

src/main/blackbox/blackbox.c

@@ -894,7 +894,7 @@ static void configureBlackboxPort(void)
      *
      * 9 / 1250 = 7200 / 1000000
      */
-    serialChunkSize = max((masterConfig.looptime * 9) / 1250, 4);
+    serialChunkSize = MAX((masterConfig.looptime * 9) / 1250, 4);
 }
 
 static void releaseBlackboxPort(void)
@@ -1133,7 +1133,7 @@ static bool blackboxWriteSysinfo()
     }
 
     // How many bytes can we afford to transmit this loop?
-    xmitState.u.serialBudget = min(xmitState.u.serialBudget + serialChunkSize, 64);
+    xmitState.u.serialBudget = MIN(xmitState.u.serialBudget + serialChunkSize, 64);
 
     // Most headers will consume at least 20 bytes so wait until we've built up that much link budget
     if (xmitState.u.serialBudget < 20) {

src/main/common/maths.c

@@ -22,7 +22,7 @@
 
 int32_t applyDeadband(int32_t value, int32_t deadband)
 {
-    if (abs(value) < deadband) {
+    if (ABS(value) < deadband) {
         value = 0;
     } else if (value > 0) {
         value -= deadband;

src/main/common/maths.h

@@ -26,9 +26,9 @@
 
 #define RAD    (M_PIf / 180.0f)
 
-#define min(a, b) ((a) < (b) ? (a) : (b))
+#define MIN(a, b) ((a) < (b) ? (a) : (b))
-#define max(a, b) ((a) > (b) ? (a) : (b))
+#define MAX(a, b) ((a) > (b) ? (a) : (b))
-#define abs(x) ((x) > 0 ? (x) : -(x))
+#define ABS(x) ((x) > 0 ? (x) : -(x))
 
 typedef struct stdev_t
 {

src/main/common/typeconversion.c

@@ -159,7 +159,7 @@ 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/drivers/compass_hmc5883l.c

@@ -177,7 +177,7 @@ void hmc5883lInit(void)
         xyz_total[Z] += magADC[Z];
 
         // Detect saturation.
-        if (-4096 >= min(magADC[X], min(magADC[Y], magADC[Z]))) {
+        if (-4096 >= MIN(magADC[X], MIN(magADC[Y], magADC[Z]))) {
             bret = false;
             break;              // Breaks out of the for loop.  No sense in continuing if we saturated.
         }
@@ -197,7 +197,7 @@ void hmc5883lInit(void)
         xyz_total[Z] -= magADC[Z];
 
         // Detect saturation.
-        if (-4096 >= min(magADC[X], min(magADC[Y], magADC[Z]))) {
+        if (-4096 >= MIN(magADC[X], MIN(magADC[Y], magADC[Z]))) {
             bret = false;
             break;              // Breaks out of the for loop.  No sense in continuing if we saturated.
         }

src/main/flight/altitudehold.c

@@ -91,7 +91,7 @@ static void applyMultirotorAltHold(void)
     // multirotor alt hold
     if (rcControlsConfig->alt_hold_fast_change) {
         // rapid alt changes
-        if (abs(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
+        if (ABS(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
             errorVelocityI = 0;
             isAltHoldChanged = 1;
             rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -rcControlsConfig->alt_hold_deadband : rcControlsConfig->alt_hold_deadband;
@@ -104,7 +104,7 @@ static void applyMultirotorAltHold(void)
         }
     } else {
         // slow alt changes, mostly used for aerial photography
-        if (abs(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
+        if (ABS(rcCommand[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
             // set velocity proportional to stick movement +100 throttle gives ~ +50 cm/s
             setVelocity = (rcCommand[THROTTLE] - initialThrottleHold) / 2;
             velocityControl = 1;
@@ -172,12 +172,12 @@ void updateSonarAltHoldState(void)
 
 bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
 {
-    return abs(inclination->values.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->values.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
+    return ABS(inclination->values.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && ABS(inclination->values.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
 }
 
 int16_t calculateTiltAngle(rollAndPitchInclination_t *inclination)
 {
-    return max(abs(inclination->values.rollDeciDegrees), abs(inclination->values.pitchDeciDegrees));
+    return MAX(ABS(inclination->values.rollDeciDegrees), ABS(inclination->values.pitchDeciDegrees));
 }
 
 

src/main/flight/flight.c

@@ -117,11 +117,11 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
         stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
         stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
 
-        if(abs(stickPosAil) > abs(stickPosEle)){
+        if(ABS(stickPosAil) > ABS(stickPosEle)){
-            mostDeflectedPos = abs(stickPosAil);
+            mostDeflectedPos = ABS(stickPosAil);
         }
         else {
-            mostDeflectedPos = abs(stickPosEle);
+            mostDeflectedPos = ABS(stickPosEle);
         }
 
         // Progressively turn off the horizon self level strength as the stick is banged over
@@ -220,7 +220,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
     UNUSED(controlRateConfig);
 
     // **** PITCH & ROLL & YAW PID ****
-    prop = min(max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])), 500); // range [0;500]
+    prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 500); // range [0;500]
 
     for (axis = 0; axis < 3; axis++) {
         if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
@@ -252,7 +252,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
             PTermGYRO = rcCommand[axis];
 
             errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
-            if ((abs(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && abs(rcCommand[axis]) > 100))
+            if ((ABS(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && ABS(rcCommand[axis]) > 100))
                 errorGyroI[axis] = 0;
 
             ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;

src/main/flight/mixer.c

@@ -509,7 +509,7 @@ void mixTable(void)
 
     if (motorCount > 3) {
         // prevent "yaw jump" during yaw correction
-        axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
+        axisPID[YAW] = constrain(axisPID[YAW], -100 - ABS(rcCommand[YAW]), +100 + ABS(rcCommand[YAW]));
     }
 
     // motors for non-servo mixes

src/main/flight/navigation.c

@@ -306,7 +306,7 @@ void onGpsNewData(void)
     dTnav = (float)(millis() - nav_loopTimer) / 1000.0f;
     nav_loopTimer = millis();
     // prevent runup from bad GPS
-    dTnav = min(dTnav, 1.0f);
+    dTnav = MIN(dTnav, 1.0f);
 
     GPS_calculateDistanceAndDirectionToHome();
 
@@ -413,7 +413,7 @@ void gpsUsePIDs(pidProfile_t *pidProfile)
 //
 static void GPS_calc_longitude_scaling(int32_t lat)
 {
-    float rads = (abs((float)lat) / 10000000.0f) * 0.0174532925f;
+    float rads = (ABS((float)lat) / 10000000.0f) * 0.0174532925f;
     GPS_scaleLonDown = cosf(rads);
 }
 
@@ -442,7 +442,7 @@ static bool check_missed_wp(void)
     int32_t temp;
     temp = target_bearing - original_target_bearing;
     temp = wrap_18000(temp);
-    return (abs(temp) > 10000); // we passed the waypoint by 100 degrees
+    return (ABS(temp) > 10000); // we passed the waypoint by 100 degrees
 }
 
 #define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR_IN_HUNDREDS_OF_KILOMETERS 1.113195f
@@ -536,7 +536,7 @@ static void GPS_calc_poshold(void)
 
         // get rid of noise
 #if defined(GPS_LOW_SPEED_D_FILTER)
-        if (abs(actual_speed[axis]) < 50)
+        if (ABS(actual_speed[axis]) < 50)
             d = 0;
 #endif
 
@@ -582,7 +582,7 @@ static void GPS_calc_nav_rate(uint16_t max_speed)
 //
 static void GPS_update_crosstrack(void)
 {
-    if (abs(wrap_18000(target_bearing - original_target_bearing)) < 4500) {     // If we are too far off or too close we don't do track following
+    if (ABS(wrap_18000(target_bearing - original_target_bearing)) < 4500) {     // If we are too far off or too close we don't do track following
         float temp = (target_bearing - original_target_bearing) * RADX100;
         crosstrack_error = sinf(temp) * (wp_distance * CROSSTRACK_GAIN); // Meters we are off track line
         nav_bearing = target_bearing + constrain(crosstrack_error, -3000, 3000);
@@ -607,10 +607,10 @@ static uint16_t GPS_calc_desired_speed(uint16_t max_speed, bool _slow)
 {
     // max_speed is default 400 or 4m/s
     if (_slow) {
-        max_speed = min(max_speed, wp_distance / 2);
+        max_speed = MIN(max_speed, wp_distance / 2);
     } else {
-        max_speed = min(max_speed, wp_distance);
+        max_speed = MIN(max_speed, wp_distance);
-        max_speed = max(max_speed, gpsProfile->nav_speed_min);      // go at least 100cm/s
+        max_speed = MAX(max_speed, gpsProfile->nav_speed_min);      // go at least 100cm/s
     }
 
     // limit the ramp up of the speed

src/main/io/display.c

@@ -292,12 +292,12 @@ void showProfilePage(void)
 void showGpsPage() {
     uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
 
-    i2c_OLED_set_xy(max(0, SATELLITE_GRAPH_LEFT_OFFSET), rowIndex++);
+    i2c_OLED_set_xy(MAX(0, SATELLITE_GRAPH_LEFT_OFFSET), rowIndex++);
 
     uint32_t index;
     for (index = 0; index < SATELLITE_COUNT && index < SCREEN_CHARACTER_COLUMN_COUNT; index++) {
         uint8_t bargraphValue = ((uint16_t) GPS_svinfo_cno[index] * VERTICAL_BARGRAPH_CHARACTER_COUNT) / (GPS_DBHZ_MAX - 1);
-        bargraphValue = min(bargraphValue, VERTICAL_BARGRAPH_CHARACTER_COUNT - 1);
+        bargraphValue = MIN(bargraphValue, VERTICAL_BARGRAPH_CHARACTER_COUNT - 1);
         i2c_OLED_send_char(VERTICAL_BARGRAPH_ZERO_CHARACTER + bargraphValue);
     }
 

src/main/io/ledstrip.c

@@ -775,10 +775,10 @@ void updateLedStrip(void)
 
     if (indicatorFlashNow) {
 
-        uint8_t rollScale = abs(rcCommand[ROLL]) / 50;
+        uint8_t rollScale = ABS(rcCommand[ROLL]) / 50;
-        uint8_t pitchScale = abs(rcCommand[PITCH]) / 50;
+        uint8_t pitchScale = ABS(rcCommand[PITCH]) / 50;
-        uint8_t scale = max(rollScale, pitchScale);
+        uint8_t scale = MAX(rollScale, pitchScale);
-        nextIndicatorFlashAt = now + (LED_STRIP_5HZ / max(1, scale));
+        nextIndicatorFlashAt = now + (LED_STRIP_5HZ / MAX(1, scale));
 
         if (indicatorFlashState == 0) {
             indicatorFlashState = 1;

src/main/io/rc_controls.c

@@ -64,7 +64,7 @@ bool isUsingSticksForArming(void)
 
 bool areSticksInApModePosition(uint16_t ap_mode)
 {
-    return abs(rcCommand[ROLL]) < ap_mode && abs(rcCommand[PITCH]) < ap_mode;
+    return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
 }
 
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
@@ -518,7 +518,7 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
 }
 
 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
-    return min(abs(rcData[axis] - midrc), 500);
+    return MIN(ABS(rcData[axis] - midrc), 500);
 }
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse)

src/main/io/serial_msp.c

@@ -820,9 +820,9 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16((uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamphours drawn from battery
         serialize16(rssi);
         if(masterConfig.batteryConfig.multiwiiCurrentMeterOutput) {
-            serialize16((uint16_t)constrain((abs(amperage) * 10), 0, 0xFFFF)); // send amperage in 0.001 A steps
+            serialize16((uint16_t)constrain((ABS(amperage) * 10), 0, 0xFFFF)); // send amperage in 0.001 A steps
         } else
-            serialize16((uint16_t)constrain(abs(amperage), 0, 0xFFFF)); // send amperage in 0.01 A steps
+            serialize16((uint16_t)constrain(ABS(amperage), 0, 0xFFFF)); // send amperage in 0.01 A steps
         break;
     case MSP_RC_TUNING:
         headSerialReply(7);

src/main/mw.c

@@ -182,7 +182,7 @@ void annexCode(void)
     }
 
     for (axis = 0; axis < 3; axis++) {
-        tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
+        tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
         if (axis == ROLL || axis == PITCH) {
             if (currentProfile->rcControlsConfig.deadband) {
                 if (tmp > currentProfile->rcControlsConfig.deadband) {
@@ -205,7 +205,7 @@ void annexCode(void)
                 }
             }
             rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
-            prop1 = 100 - (uint16_t)currentControlRateProfile->yawRate * abs(tmp) / 500;
+            prop1 = 100 - (uint16_t)currentControlRateProfile->yawRate * ABS(tmp) / 500;
         }
         // FIXME axis indexes into pids.  use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
         dynP8[axis] = (uint16_t)currentProfile->pidProfile.P8[axis] * prop1 / 100;
@@ -397,7 +397,7 @@ void updateInflightCalibrationState(void)
 
 void updateMagHold(void)
 {
-    if (abs(rcCommand[YAW]) < 70 && FLIGHT_MODE(MAG_MODE)) {
+    if (ABS(rcCommand[YAW]) < 70 && FLIGHT_MODE(MAG_MODE)) {
         int16_t dif = heading - magHold;
         if (dif <= -180)
             dif += 360;

src/main/telemetry/frsky.c

@@ -161,7 +161,7 @@ static void sendBaro(void)
     sendDataHead(ID_ALTITUDE_BP);
     serialize16(BaroAlt / 100);
     sendDataHead(ID_ALTITUDE_AP);
-    serialize16(abs(BaroAlt % 100));
+    serialize16(ABS(BaroAlt % 100));
 }
 
 static void sendGpsAltitude(void)
@@ -247,7 +247,7 @@ static void sendTime(void)
 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