From 711111e6fb76594fbebf3cb641ea7cd837b28f00 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Fri, 4 Sep 2020 18:23:33 -0700
Subject: [PATCH] change fmaxf to std max

---
 Firmware/MotorControl/low_level.cpp | 2 +-
 Firmware/MotorControl/motor.cpp     | 2 +-
 Firmware/MotorControl/trapTraj.cpp  | 2 +-
 Firmware/Tests/test_trap_traj.cpp   | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index a40d2ac6..af258c29 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -494,7 +494,7 @@ void update_brake_current() {
     float brake_duty = brake_current * odrv.config_.brake_resistance / vbus_voltage;
     
     if (odrv.config_.enable_dc_bus_overvoltage_ramp && (odrv.config_.brake_resistance > 0.0f) && (odrv.config_.dc_bus_overvoltage_ramp_start < odrv.config_.dc_bus_overvoltage_ramp_end)) {
-        brake_duty += std::fmax((vbus_voltage - odrv.config_.dc_bus_overvoltage_ramp_start) / (odrv.config_.dc_bus_overvoltage_ramp_end - odrv.config_.dc_bus_overvoltage_ramp_start), 0.0f);
+        brake_duty += std::max((vbus_voltage - odrv.config_.dc_bus_overvoltage_ramp_start) / (odrv.config_.dc_bus_overvoltage_ramp_end - odrv.config_.dc_bus_overvoltage_ramp_start), 0.0f);
     }
 
     if (std::isnan(brake_duty)) {
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 9bdbaa75..0b0a2a31 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -416,7 +416,7 @@ bool Motor::update(float torque_setpoint, float phase, float phase_vel) {
     phase_vel *= config_.direction;
 
     if (config_.motor_type == MOTOR_TYPE_ACIM) {
-        current_setpoint = torque_setpoint / (config_.torque_constant * fmax(current_control_.acim_rotor_flux, config_.acim_gain_min_flux));
+        current_setpoint = torque_setpoint / (config_.torque_constant * std::max(current_control_.acim_rotor_flux, config_.acim_gain_min_flux));
     }
     else {
         current_setpoint = torque_setpoint / config_.torque_constant;
diff --git a/Firmware/MotorControl/trapTraj.cpp b/Firmware/MotorControl/trapTraj.cpp
index b3afd946..cb271fcd 100644
--- a/Firmware/MotorControl/trapTraj.cpp
+++ b/Firmware/MotorControl/trapTraj.cpp
@@ -42,7 +42,7 @@ bool TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi, float Vi,
     // Are we displacing enough to reach cruising speed?
     if (s*dX < s*dXmin) {
         // Short move (triangle profile)
-        Vr_ = s * sqrtf(std::fmax((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
+        Vr_ = s * sqrtf(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
         Ta_ = std::max(0.0f, (Vr_ - Vi) / Ar_);
         Td_ = std::max(0.0f, -Vr_ / Dr_);
         Tv_ = 0.0f;
diff --git a/Firmware/Tests/test_trap_traj.cpp b/Firmware/Tests/test_trap_traj.cpp
index d95328dd..90d8275f 100644
--- a/Firmware/Tests/test_trap_traj.cpp
+++ b/Firmware/Tests/test_trap_traj.cpp
@@ -85,7 +85,7 @@ bool TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi, float Vi,
     // Are we displacing enough to reach cruising speed?
     if (s*dX < s*dXmin) {
         // Short move (triangle profile)
-        Vr_ = s * sqrtf(std::fmax((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
+        Vr_ = s * sqrtf(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
         //Vr_ = s * sqrtf((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_));
         Ta_ = std::max(0.0f, (Vr_ - Vi) / Ar_);
         Td_ = std::max(0.0f, -Vr_ / Dr_);