diff --git a/conf/airframes/OPENUAS/openuas_vivify.xml b/conf/airframes/OPENUAS/openuas_vivify.xml
index dbbee02677..b00853ba8c 100644
--- a/conf/airframes/OPENUAS/openuas_vivify.xml
+++ b/conf/airframes/OPENUAS/openuas_vivify.xml
@@ -365,7 +365,7 @@
   <!-- ************************** COMMAND-LAWS ******************************* -->
   <command_laws>
     <!-- Brake Slowdown -->
-    <let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
+    <let var="brake_value_nofilt" value="Clip(-@BRAKE, 0, MAX_PPRZ)"/>
     <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-BRAKE_ENABLED_SLOWDOWN_FACTOR_RETRACT" rate_max="BRAKE_ENABLED_SLOWDOWN_FACTOR_EXTEND"/>
     <let var="aileron" value="@ROLL  * ELEVON_ROLL_FACTOR"/>
     <let var="elevator" value="@PITCH * ELEVON_PITCH_FACTOR"/>
diff --git a/conf/airframes/tudelft/yapa_xsens.xml b/conf/airframes/tudelft/yapa_xsens.xml
index f830595548..7fcea5fd20 100644
--- a/conf/airframes/tudelft/yapa_xsens.xml
+++ b/conf/airframes/tudelft/yapa_xsens.xml
@@ -92,7 +92,7 @@ YAPA + XSens + XBee
 
   <command_laws>
     <!-- Brake Rate Limiter -->
-    <let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
+    <let var="brake_value_nofilt" value="Clip(-@BRAKE, 0, MAX_PPRZ)"/>
     <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE"/>
     <!-- Differential Aileron Depending on Brake Value -->
     <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>
diff --git a/conf/airframes/untested/easy_glider.xml b/conf/airframes/untested/easy_glider.xml
index a5f13db820..eb99e4c7fe 100644
--- a/conf/airframes/untested/easy_glider.xml
+++ b/conf/airframes/untested/easy_glider.xml
@@ -38,7 +38,7 @@
   </section>
 
   <command_laws>
-    <ratelimit var="brake_value" value="Chop(@BRAKE, 0, MAX_PPRZ)" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
+    <ratelimit var="brake_value" value="Clip(@BRAKE, 0, MAX_PPRZ)" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
 
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="ELEVATOR" value="@PITCH + BRAKE_PITCH * $brake_value"/>
diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h
index 3a14ef2e3d..53f5be61db 100644
--- a/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h
+++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h
@@ -36,7 +36,7 @@
 #include BOARD_CONFIG
 
 #define SERVOS_TICS_OF_USEC(s) cpu_ticks_of_usec(s)
-#define ChopServo(x,a,b) Chop(x, a, b)
+#define ClipServo(x,a,b) Clip(x, a, b)
 
 #define _4015_NB_CHANNELS 8
 extern uint16_t servos_values[_4015_NB_CHANNELS];
diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h
index edb598c067..f42c49ba72 100644
--- a/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h
+++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h
@@ -31,7 +31,7 @@
 #define PWM_TICS_OF_USEC(us)   (uint32_t)((us) *1e-6 * PCLK / PWM_PRESCALER + 0.5)
 
 #define SERVOS_TICS_OF_USEC(s) PWM_TICS_OF_USEC(s)
-#define ChopServo(x,a,b) Chop(x, a, b)
+#define ClipServo(x,a,b) Clip(x, a, b)
 
 #define _4015_NB_CHANNELS 8
 extern uint16_t servos_values[_4015_NB_CHANNELS];
diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h
index 50b367a9d0..4cd41aff84 100644
--- a/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h
+++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h
@@ -32,10 +32,10 @@
 #include BOARD_CONFIG
 
 #define SERVOS_TICS_OF_USEC(s) cpu_ticks_of_usec(s)
-#define ChopServo(x,a,b) Chop(x, a, b)
+#define ClipServo(x,a,b) Clip(x, a, b)
 
 #if defined NB_CHANNELS
-#define _4017_NB_CHANNELS Chop(NB_CHANNELS,0,10)
+#define _4017_NB_CHANNELS Clip(NB_CHANNELS,0,10)
 #else
 #define _4017_NB_CHANNELS 10
 #endif
diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h
index 86fe9af00a..2ba1545dfb 100644
--- a/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h
+++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h
@@ -38,7 +38,7 @@
 #include BOARD_CONFIG
 
 #define SERVOS_TICS_OF_USEC(s) cpu_ticks_of_usec(s)
-#define ChopServo(x,a,b) Chop(x, a, b)
+#define ClipServo(x,a,b) Clip(x, a, b)
 
 #define _PPM_NB_CHANNELS 8
 extern uint16_t servos_values[_PPM_NB_CHANNELS];
diff --git a/sw/airborne/arch/sim/servos_nil.h b/sw/airborne/arch/sim/servos_nil.h
index 35fbf7e055..426f33ba95 100644
--- a/sw/airborne/arch/sim/servos_nil.h
+++ b/sw/airborne/arch/sim/servos_nil.h
@@ -2,7 +2,7 @@
 #define SERVOS_NIL_H
 
 #define SERVOS_TICS_OF_USEC(s) cpu_ticks_of_usec(s)
-#define ChopServo(x,a,b) Chop(x, a, b)
+#define ClipServo(x,a,b) Clip(x, a, b)
 #define Actuator(i) actuators[i]
 #define ActuatorsCommit() {}
 
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index 5c999c149a..39537cfe34 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -161,15 +161,15 @@ void update_actuators(void)
     for (i = 0; i < COMMANDS_NB; i++) {trimmed_commands[i] = commands[i];}
 
 #ifdef COMMAND_ROLL
-    trimmed_commands[COMMAND_ROLL] += ChopAbs(command_roll_trim, MAX_PPRZ / 10);
+    trimmed_commands[COMMAND_ROLL] += ClipAbs(command_roll_trim, MAX_PPRZ / 10);
 #endif /* COMMAND_ROLL */
 
 #ifdef COMMAND_PITCH
-    trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ / 10);
+    trimmed_commands[COMMAND_PITCH] += ClipAbs(command_pitch_trim, MAX_PPRZ / 10);
 #endif /* COMMAND_PITCH */
 
 #ifdef COMMAND_YAW
-    trimmed_commands[COMMAND_YAW] += ChopAbs(command_yaw_trim, MAX_PPRZ);
+    trimmed_commands[COMMAND_YAW] += ClipAbs(command_yaw_trim, MAX_PPRZ);
 #endif /* COMMAND_YAW */
 
     SetActuatorsFromCommands(trimmed_commands, autopilot_get_mode());
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index df29d442ca..ac70f071b5 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -304,7 +304,7 @@ void Normalize(void)
   if (renorm < 1.5625f && renorm > 0.64f) {
     renorm = .5 * (3 - renorm);                                       //eq.21
   } else if (renorm < 100.0f && renorm > 0.01f) {
-    renorm = 1. / sqrt(renorm);
+    renorm = 1. / sqrtf(renorm);
 #if PERFORMANCE_REPORTING == 1
     renorm_sqrt_count++;
 #endif
@@ -321,7 +321,7 @@ void Normalize(void)
   if (renorm < 1.5625f && renorm > 0.64f) {
     renorm = .5 * (3 - renorm);                                              //eq.21
   } else if (renorm < 100.0f && renorm > 0.01f) {
-    renorm = 1. / sqrt(renorm);
+    renorm = 1. / sqrtf(renorm);
 #if PERFORMANCE_REPORTING == 1
     renorm_sqrt_count++;
 #endif
@@ -338,7 +338,7 @@ void Normalize(void)
   if (renorm < 1.5625f && renorm > 0.64f) {
     renorm = .5 * (3 - renorm);                                              //eq.21
   } else if (renorm < 100.0f && renorm > 0.01f) {
-    renorm = 1. / sqrt(renorm);
+    renorm = 1. / sqrtf(renorm);
 #if PERFORMANCE_REPORTING == 1
     renorm_sqrt_count++;
 #endif
@@ -379,7 +379,7 @@ void Drift_correction()
   Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
   // Dynamic weighting of accelerometer info (reliability filter)
   // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
-  Accel_weight = Chop(1 - 2 * fabs(1 - Accel_magnitude), 0, 1); //
+  Accel_weight = Clip(1 - 2 * fabsf(1 - Accel_magnitude), 0, 1); //
 
 
 #if PERFORMANCE_REPORTING == 1
@@ -450,7 +450,7 @@ void Drift_correction()
 #endif
 
   //  Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
-  Integrator_magnitude = sqrt(Vector_Dot_Product(Omega_I, Omega_I));
+  Integrator_magnitude = sqrtf(Vector_Dot_Product(Omega_I, Omega_I));
   if (Integrator_magnitude > RadOfDeg(300)) {
     Vector_Scale(Omega_I, Omega_I, 0.5f * RadOfDeg(300) / Integrator_magnitude);
   }
diff --git a/sw/include/std.h b/sw/include/std.h
index 97c8b995c3..69057f4903 100644
--- a/sw/include/std.h
+++ b/sw/include/std.h
@@ -117,8 +117,8 @@ typedef uint8_t unit_t;
         BoundInverted(_x, _min, _max)             \
       }
 #define BoundAbs(_x, _max) Bound(_x, -(_max), (_max))
-#define Chop(_x, _min, _max) ( (_x) < (_min) ? (_min) : (_x) > (_max) ? (_max) : (_x) )
-#define ChopAbs(x, max) Chop(x, -(max), (max))
+#define Clip(_x, _min, _max) ( (_x) < (_min) ? (_min) : (_x) > (_max) ? (_max) : (_x) )
+#define ClipAbs(x, max) Clip(x, -(max), (max))
 
 #define DeadBand(_x, _v) {            \
     if (_x > (_v))                    \
diff --git a/sw/tools/generators/gen_airframe.ml b/sw/tools/generators/gen_airframe.ml
index f84ecf1d22..d59d6bd2c4 100644
--- a/sw/tools/generators/gen_airframe.ml
+++ b/sw/tools/generators/gen_airframe.ml
@@ -220,7 +220,7 @@ let print_actuators_idx = fun () ->
     printf "#define SERVO_%s_IDX %d\n" s i;
     (* Set servo macro *)
     printf "#define Set_%s_Servo(_v) { \\\n" s;
-    printf "  actuators[SERVO_%s_IDX] = Chop(_v, SERVO_%s_MIN, SERVO_%s_MAX); \\\n" s s s;
+    printf "  actuators[SERVO_%s_IDX] = Clip(_v, SERVO_%s_MIN, SERVO_%s_MAX); \\\n" s s s;
     printf "  Actuator%sSet(SERVO_%s, actuators[SERVO_%s_IDX]); \\\n" d s s;
     printf "}\n\n"
   ) servos_drivers;
@@ -253,7 +253,7 @@ let parse_command_laws = fun command ->
       and rate_min = a "rate_min"
       and rate_max = a "rate_max" in
       let v = preprocess_value value "values" "COMMAND" in
-      printf "  static int32_t _var_%s = 0; _var_%s += Chop((%s) - (_var_%s), (%s), (%s)); \\\n" var var v var rate_min rate_max
+      printf "  static int32_t _var_%s = 0; _var_%s += Clip((%s) - (_var_%s), (%s), (%s)); \\\n" var var v var rate_min rate_max
     | "define" ->
       parse_element "" command
     | _ -> xml_error "set|let"