diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
index 8b97358287..b05f4ea320 100644
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@@ -37,8 +37,8 @@
 #include <cstring>
 #include <fcntl.h>
 #include <dirent.h>
-#include <memory>
 #include <pthread.h>
+#include <mathlib/mathlib.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -815,8 +815,8 @@ void UavcanServers::cb_enumeration_getset(const uavcan::ServiceCallResult<uavcan
 
 		uavcan::protocol::param::GetSet::Response resp = result.getResponse();
 		uint8_t esc_index = (uint8_t)resp.value.to<uavcan::protocol::param::Value::Tag::integer_value>();
-		esc_index = std::min((uint8_t)(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize - 1), esc_index);
-		_esc_enumeration_index = std::max(_esc_enumeration_index, (uint8_t)(esc_index + 1));
+		esc_index = math::min((uint8_t)(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize - 1), esc_index);
+		_esc_enumeration_index = math::max(_esc_enumeration_index, (uint8_t)(esc_index + 1));
 
 		_esc_enumeration_ids[esc_index] = result.getCallID().server_node_id.get();