Merge pull request #896 from PX4/modules_cleanup

Unused deprecated modules removed

69 files changed, 0 insertions, 6414 deletions

diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
deleted file mode 100644
index 2aeca3a98..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
+++ /dev/null
@@ -1,169 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_att_control_rate.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_att.h"
-
-
-struct fw_att_control_params {
-	float roll_p;
-	float rollrate_lim;
-	float pitch_p;
-	float pitchrate_lim;
-	float yawrate_lim;
-	float pitch_roll_compensation_p;
-};
-
-struct fw_pos_control_param_handles {
-	param_t roll_p;
-	param_t rollrate_lim;
-	param_t pitch_p;
-	param_t pitchrate_lim;
-	param_t yawrate_lim;
-	param_t pitch_roll_compensation_p;
-};
-
-
-
-/* Internal Prototypes */
-static int parameters_init(struct fw_pos_control_param_handles *h);
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p);
-
-static int parameters_init(struct fw_pos_control_param_handles *h)
-{
-	/* PID parameters */
-	h->roll_p 		=	param_find("FW_ROLL_P");
-	h->rollrate_lim =	param_find("FW_ROLLR_LIM");
-	h->pitch_p 		=	param_find("FW_PITCH_P");
-	h->pitchrate_lim =	param_find("FW_PITCHR_LIM");
-	h->yawrate_lim =	param_find("FW_YAWR_LIM");
-	h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p)
-{
-	param_get(h->roll_p, &(p->roll_p));
-	param_get(h->rollrate_lim, &(p->rollrate_lim));
-	param_get(h->pitch_p, &(p->pitch_p));
-	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
-	param_get(h->yawrate_lim, &(p->yawrate_lim));
-	param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p));
-
-	return OK;
-}
-
-int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				   const struct vehicle_attitude_s *att,
-				   const float speed_body[],
-				   struct vehicle_rates_setpoint_s *rates_sp)
-{
-	static int counter = 0;
-	static bool initialized = false;
-
-	static struct fw_att_control_params p;
-	static struct fw_pos_control_param_handles h;
-
-	static PID_t roll_controller;
-	static PID_t pitch_controller;
-
-
-	if (!initialized) {
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller
-		pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller
-		initialized = true;
-	}
-
-	/* load new parameters with lower rate */
-	if (counter % 100 == 0) {
-		/* update parameters from storage */
-		parameters_update(&h, &p);
-		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim);
-		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
-	}
-
-	/* Roll (P) */
-	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
-
-
-	/* Pitch (P) */
-
-	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
-	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
-	/* set pitch plus feedforward roll compensation */
-	rates_sp->pitch = pid_calculate(&pitch_controller,
-					att_sp->pitch_body + pitch_sp_rollcompensation,
-					att->pitch, 0, 0);
-
-	/* Yaw (from coordinated turn constraint or lateral force) */
-	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
-			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
-
-//	printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
-
-	counter++;
-
-	return 0;
-}
-
-
-
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
deleted file mode 100644
index 600e35b89..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* @file Fixed Wing Attitude Control */
-
-#ifndef FIXEDWING_ATT_CONTROL_ATT_H_
-#define FIXEDWING_ATT_CONTROL_ATT_H_
-
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_global_position.h>
-
-int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				   const struct vehicle_attitude_s *att,
-				   const float speed_body[],
-				   struct vehicle_rates_setpoint_s *rates_sp);
-
-#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
deleted file mode 100644
index b6b4546c2..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
+++ /dev/null
@@ -1,367 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
- *   			@author Doug Weibel <douglas.weibel@colorado.edu>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_att_control.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/debug_key_value.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_rate.h"
-#include "fixedwing_att_control_att.h"
-
-/* Prototypes */
-/**
- * Deamon management function.
- */
-__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int fixedwing_att_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/* Variables */
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-/* Main Thread */
-int fixedwing_att_control_thread_main(int argc, char *argv[])
-{
-	/* read arguments */
-	bool verbose = false;
-
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			verbose = true;
-		}
-	}
-
-	/* welcome user */
-	printf("[fixedwing att control] started\n");
-
-	/* declare and safely initialize all structs */
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(att_sp));
-	struct vehicle_rates_setpoint_s rates_sp;
-	memset(&rates_sp, 0, sizeof(rates_sp));
-	struct vehicle_global_position_s global_pos;
-	memset(&global_pos, 0, sizeof(global_pos));
-	struct manual_control_setpoint_s manual_sp;
-	memset(&manual_sp, 0, sizeof(manual_sp));
-	struct vehicle_control_mode_s control_mode;
-	memset(&control_mode, 0, sizeof(control_mode));
-	struct vehicle_status_s vstatus;
-	memset(&vstatus, 0, sizeof(vstatus));
-
-	/* output structs */
-	struct actuator_controls_s actuators;
-	memset(&actuators, 0, sizeof(actuators));
-
-
-	/* publish actuator controls */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
-		actuators.control[i] = 0.0f;
-	}
-
-	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-	orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-
-	/* subscribe */
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* Setup of loop */
-	float gyro[3] = {0.0f, 0.0f, 0.0f};
-	float speed_body[3] = {0.0f, 0.0f, 0.0f};
-	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
-
-	while (!thread_should_exit) {
-		/* wait for a sensor update, check for exit condition every 500 ms */
-		poll(&fds, 1, 500);
-
-		/* Check if there is a new position measurement or  attitude setpoint */
-		bool pos_updated;
-		orb_check(global_pos_sub, &pos_updated);
-		bool att_sp_updated;
-		orb_check(att_sp_sub, &att_sp_updated);
-
-		/* get a local copy of attitude */
-		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-
-		if (att_sp_updated)
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
-
-		if (pos_updated) {
-			orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-
-			if (att.R_valid) {
-				speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
-				speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
-				speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
-
-			} else {
-				speed_body[0] = 0;
-				speed_body[1] = 0;
-				speed_body[2] = 0;
-
-				printf("FW ATT CONTROL: Did not get a valid R\n");
-			}
-		}
-
-		orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
-		orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-		orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
-
-		gyro[0] = att.rollspeed;
-		gyro[1] = att.pitchspeed;
-		gyro[2] = att.yawspeed;
-
-		/* set manual setpoints if required */
-		if (control_mode.flag_control_manual_enabled) {
-			if (control_mode.flag_control_attitude_enabled) {
-
-				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-				if (vstatus.rc_signal_lost) {
-
-					/* put plane into loiter */
-					att_sp.roll_body = 0.3f;
-					att_sp.pitch_body = 0.0f;
-
-					/* limit throttle to 60 % of last value if sane */
-					if (isfinite(manual_sp.throttle) &&
-					    (manual_sp.throttle >= 0.0f) &&
-					    (manual_sp.throttle <= 1.0f)) {
-						att_sp.thrust = 0.6f * manual_sp.throttle;
-
-					} else {
-						att_sp.thrust = 0.0f;
-					}
-
-					att_sp.yaw_body = 0;
-
-					// XXX disable yaw control, loiter
-
-				} else {
-
-					att_sp.roll_body = manual_sp.roll;
-					att_sp.pitch_body = manual_sp.pitch;
-					att_sp.yaw_body = 0;
-					att_sp.thrust = manual_sp.throttle;
-				}
-
-				att_sp.timestamp = hrt_absolute_time();
-
-				/* pass through flaps */
-				if (isfinite(manual_sp.flaps)) {
-					actuators.control[4] = manual_sp.flaps;
-
-				} else {
-					actuators.control[4] = 0.0f;
-				}
-
-			} else {
-				/* directly pass through values */
-				actuators.control[0] = manual_sp.roll;
-				/* positive pitch means negative actuator -> pull up */
-				actuators.control[1] = manual_sp.pitch;
-				actuators.control[2] = manual_sp.yaw;
-				actuators.control[3] = manual_sp.throttle;
-
-				if (isfinite(manual_sp.flaps)) {
-					actuators.control[4] = manual_sp.flaps;
-
-				} else {
-					actuators.control[4] = 0.0f;
-				}
-			}
-		}
-		
-		/* execute attitude control if requested */
-		if (control_mode.flag_control_attitude_enabled) {
-			/* attitude control */
-			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
-
-			/* angular rate control */
-			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
-
-			/* pass through throttle */
-			actuators.control[3] = att_sp.thrust;
-
-			/* set flaps to zero */
-			actuators.control[4] = 0.0f;
-
-		}
-
-		/* publish rates */
-		orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
-
-		/* sanity check and publish actuator outputs */
-		if (isfinite(actuators.control[0]) &&
-		    isfinite(actuators.control[1]) &&
-		    isfinite(actuators.control[2]) &&
-		    isfinite(actuators.control[3])) {
-			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-		}
-	}
-
-	printf("[fixedwing_att_control] exiting, stopping all motors.\n");
-	thread_running = false;
-
-	/* kill all outputs */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
-		actuators.control[i] = 0.0f;
-
-	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-
-
-
-	close(att_sub);
-	close(actuator_pub);
-	close(rates_pub);
-
-	fflush(stdout);
-	exit(0);
-
-	return 0;
-
-}
-
-/* Startup Functions */
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int fixedwing_att_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("fixedwing_att_control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("fixedwing_att_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 2048,
-					 fixedwing_att_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tfixedwing_att_control is running\n");
-
-		} else {
-			printf("\tfixedwing_att_control not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-
-
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
deleted file mode 100644
index cdab39edc..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
+++ /dev/null
@@ -1,211 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_att_control_rate.c
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Implementation of a fixed wing attitude controller.
- *
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_rate.h"
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-// Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
-PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
-
-//Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
-PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
-
-//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
-PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
-
-/* feedforward compensation */
-PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f);	/**< throttle to pitch coupling feedforward */
-
-struct fw_rate_control_params {
-	float rollrate_p;
-	float rollrate_i;
-	float rollrate_awu;
-	float pitchrate_p;
-	float pitchrate_i;
-	float pitchrate_awu;
-	float yawrate_p;
-	float yawrate_i;
-	float yawrate_awu;
-	float pitch_thr_ff;
-};
-
-struct fw_rate_control_param_handles {
-	param_t rollrate_p;
-	param_t rollrate_i;
-	param_t rollrate_awu;
-	param_t pitchrate_p;
-	param_t pitchrate_i;
-	param_t pitchrate_awu;
-	param_t yawrate_p;
-	param_t yawrate_i;
-	param_t yawrate_awu;
-	param_t pitch_thr_ff;
-};
-
-
-
-/* Internal Prototypes */
-static int parameters_init(struct fw_rate_control_param_handles *h);
-static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
-
-static int parameters_init(struct fw_rate_control_param_handles *h)
-{
-	/* PID parameters */
-	h->rollrate_p 	 =	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
-	h->rollrate_i 	 =	param_find("FW_ROLLR_I");
-	h->rollrate_awu  =	param_find("FW_ROLLR_AWU");
-
-	h->pitchrate_p 	 =	param_find("FW_PITCHR_P");
-	h->pitchrate_i 	 =	param_find("FW_PITCHR_I");
-	h->pitchrate_awu =	param_find("FW_PITCHR_AWU");
-
-	h->yawrate_p 	 =	param_find("FW_YAWR_P");
-	h->yawrate_i 	 =	param_find("FW_YAWR_I");
-	h->yawrate_awu   =	param_find("FW_YAWR_AWU");
-	h->pitch_thr_ff  =	param_find("FW_PITCH_THR_P");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
-{
-	param_get(h->rollrate_p, &(p->rollrate_p));
-	param_get(h->rollrate_i, &(p->rollrate_i));
-	param_get(h->rollrate_awu, &(p->rollrate_awu));
-	param_get(h->pitchrate_p, &(p->pitchrate_p));
-	param_get(h->pitchrate_i, &(p->pitchrate_i));
-	param_get(h->pitchrate_awu, &(p->pitchrate_awu));
-	param_get(h->yawrate_p, &(p->yawrate_p));
-	param_get(h->yawrate_i, &(p->yawrate_i));
-	param_get(h->yawrate_awu, &(p->yawrate_awu));
-	param_get(h->pitch_thr_ff, &(p->pitch_thr_ff));
-
-	return OK;
-}
-
-int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-				const float rates[],
-				struct actuator_controls_s *actuators)
-{
-	static int counter = 0;
-	static bool initialized = false;
-
-	static struct fw_rate_control_params p;
-	static struct fw_rate_control_param_handles h;
-
-	static PID_t roll_rate_controller;
-	static PID_t pitch_rate_controller;
-	static PID_t yaw_rate_controller;
-
-	static uint64_t last_run = 0;
-	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-	last_run = hrt_absolute_time();
-
-	if (!initialized) {
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the controller layout is with a PI rate controller
-		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		initialized = true;
-	}
-
-	/* load new parameters with lower rate */
-	if (counter % 100 == 0) {
-		/* update parameters from storage */
-		parameters_update(&h, &p);
-		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
-		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
-		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
-	}
-
-
-	/* roll rate (PI) */
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
-	/* pitch rate (PI) */
-	actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
-	/* yaw rate (PI) */
-	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
-
-	counter++;
-
-	return 0;
-}
-
-
-
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
deleted file mode 100644
index 500e3e197..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* @file Fixed Wing Attitude Rate Control */
-
-#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
-#define FIXEDWING_ATT_CONTROL_RATE_H_
-
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-
-int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-				const float rates[],
-				struct actuator_controls_s *actuators);
-
-#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/fixedwing_att_control/module.mk
deleted file mode 100644
index fd1a8724a..000000000
--- a/src/modules/fixedwing_att_control/module.mk
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Fixedwing Attitude Control application
-#
-
-MODULE_COMMAND	= fixedwing_att_control
-
-SRCS		= fixedwing_att_control_main.c \
-		  fixedwing_att_control_att.c \
-		  fixedwing_att_control_rate.c
diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
deleted file mode 100644
index 888dd0942..000000000
--- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ /dev/null
@@ -1,479 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
- *   			@author Doug Weibel <douglas.weibel@colorado.edu>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_pos_control.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/parameter_update.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
-PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
-PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f);		// Radians per meter off track
-PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
-PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	/**< Pitch angle limit in radians per second */
-
-struct fw_pos_control_params {
-	float heading_p;
-	float headingr_p;
-	float headingr_i;
-	float headingr_lim;
-	float xtrack_p;
-	float altitude_p;
-	float roll_lim;
-	float pitch_lim;
-};
-
-struct fw_pos_control_param_handles {
-	param_t heading_p;
-	param_t headingr_p;
-	param_t headingr_i;
-	param_t headingr_lim;
-	param_t xtrack_p;
-	param_t altitude_p;
-	param_t roll_lim;
-	param_t pitch_lim;
-};
-
-
-struct planned_path_segments_s {
-	bool segment_type;
-	double start_lat;			// Start of line or center of arc
-	double start_lon;
-	double end_lat;
-	double end_lon;
-	float radius;				// Radius of arc
-	float arc_start_bearing;		// Bearing from center to start of arc
-	float arc_sweep;				// Angle (radians) swept out by arc around center.
-	// Positive for clockwise, negative for counter-clockwise
-};
-
-
-/* Prototypes */
-/* Internal Prototypes */
-static int parameters_init(struct fw_pos_control_param_handles *h);
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
-
-/**
- * Deamon management function.
- */
-__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int fixedwing_pos_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/* Variables */
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-
-/**
- * Parameter management
- */
-static int parameters_init(struct fw_pos_control_param_handles *h)
-{
-	/* PID parameters */
-	h->heading_p 		=	param_find("FW_HEAD_P");
-	h->headingr_p 		=	param_find("FW_HEADR_P");
-	h->headingr_i 		=	param_find("FW_HEADR_I");
-	h->headingr_lim 	=	param_find("FW_HEADR_LIM");
-	h->xtrack_p 		=	param_find("FW_XTRACK_P");
-	h->altitude_p 		=	param_find("FW_ALT_P");
-	h->roll_lim 		=	param_find("FW_ROLL_LIM");
-	h->pitch_lim 		=	param_find("FW_PITCH_LIM");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
-{
-	param_get(h->heading_p, &(p->heading_p));
-	param_get(h->headingr_p, &(p->headingr_p));
-	param_get(h->headingr_i, &(p->headingr_i));
-	param_get(h->headingr_lim, &(p->headingr_lim));
-	param_get(h->xtrack_p, &(p->xtrack_p));
-	param_get(h->altitude_p, &(p->altitude_p));
-	param_get(h->roll_lim, &(p->roll_lim));
-	param_get(h->pitch_lim, &(p->pitch_lim));
-
-	return OK;
-}
-
-
-/* Main Thread */
-int fixedwing_pos_control_thread_main(int argc, char *argv[])
-{
-	/* read arguments */
-	bool verbose = false;
-
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			verbose = true;
-		}
-	}
-
-	/* welcome user */
-	printf("[fixedwing pos control] started\n");
-
-	/* declare and safely initialize all structs */
-	struct vehicle_global_position_s global_pos;
-	memset(&global_pos, 0, sizeof(global_pos));
-	struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
-	memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
-	struct vehicle_global_position_setpoint_s global_setpoint;
-	memset(&global_setpoint, 0, sizeof(global_setpoint));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct crosstrack_error_s xtrack_err;
-	memset(&xtrack_err, 0, sizeof(xtrack_err));
-	struct parameter_update_s param_update;
-	memset(&param_update, 0, sizeof(param_update));
-
-	/* output structs */
-	struct vehicle_attitude_setpoint_s attitude_setpoint;
-	memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
-
-	/* publish attitude setpoint */
-	attitude_setpoint.roll_body = 0.0f;
-	attitude_setpoint.pitch_body = 0.0f;
-	attitude_setpoint.yaw_body = 0.0f;
-	attitude_setpoint.thrust = 0.0f;
-	orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
-
-	/* subscribe */
-	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int param_sub = orb_subscribe(ORB_ID(parameter_update));
-
-	/* Setup of loop */
-	struct pollfd fds[2] = {
-		{ .fd = param_sub, .events = POLLIN },
-		{ .fd = att_sub, .events = POLLIN }
-	};
-	bool global_sp_updated_set_once = false;
-
-	float psi_track = 0.0f;
-
-	int counter = 0;
-
-	struct fw_pos_control_params p;
-	struct fw_pos_control_param_handles h;
-
-	PID_t heading_controller;
-	PID_t heading_rate_controller;
-	PID_t offtrack_controller;
-	PID_t altitude_controller;
-
-	parameters_init(&h);
-	parameters_update(&h, &p);
-	pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE, 0.0f); //arbitrary high limit
-	pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE, 0.0f);
-	pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE, 0.0f);
-	pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE, 0.0f); //TODO: remove hardcoded value
-
-	/* error and performance monitoring */
-	perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
-	perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
-
-	while (!thread_should_exit) {
-		/* wait for a sensor update, check for exit condition every 500 ms */
-		int ret = poll(fds, 2, 500);
-
-		if (ret < 0) {
-			/* poll error, count it in perf */
-			perf_count(fw_err_perf);
-
-		} else if (ret == 0) {
-			/* no return value, ignore */
-		} else {
-
-			/* only update parameters if they changed */
-			if (fds[0].revents & POLLIN) {
-				/* read from param to clear updated flag */
-				struct parameter_update_s update;
-				orb_copy(ORB_ID(parameter_update), param_sub, &update);
-
-				/* update parameters from storage */
-				parameters_update(&h, &p);
-				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
-				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
-				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
-				pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
-			}
-
-			/* only run controller if attitude changed */
-			if (fds[1].revents & POLLIN) {
-
-
-				static uint64_t last_run = 0;
-				const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-				last_run = hrt_absolute_time();
-
-				/* check if there is a new position or setpoint */
-				bool pos_updated;
-				orb_check(global_pos_sub, &pos_updated);
-				bool global_sp_updated;
-				orb_check(global_setpoint_sub, &global_sp_updated);
-
-				/* load local copies */
-				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-
-				if (pos_updated) {
-					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-				}
-
-				if (global_sp_updated) {
-					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
-					start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
-					global_sp_updated_set_once = true;
-					psi_track = get_bearing_to_next_waypoint(global_pos.lat, global_pos.lon,
-							(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-					printf("next wp direction: %0.4f\n", (double)psi_track);
-				}
-
-				/* Simple Horizontal Control */
-				if (global_sp_updated_set_once) {
-					//				if (counter % 100 == 0)
-					//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-
-					/* calculate crosstrack error */
-					// Only the case of a straight line track following handled so far
-					int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-										(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
-										(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-					// XXX what is xtrack_err.past_end?
-					if (distance_res == OK /*&& !xtrack_err.past_end*/) {
-
-						float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
-
-						float psi_c = psi_track + delta_psi_c;
-						float psi_e = psi_c - att.yaw;
-
-						/* wrap difference back onto -pi..pi range */
-						psi_e = _wrap_pi(psi_e);
-
-						if (verbose) {
-							printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
-							printf("delta_psi_c %.4f ", (double)delta_psi_c);
-							printf("psi_c %.4f ", (double)psi_c);
-							printf("att.yaw %.4f ", (double)att.yaw);
-							printf("psi_e %.4f ", (double)psi_e);
-						}
-
-						/* calculate roll setpoint, do this artificially around zero */
-						float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
-						float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
-						float psi_rate_c = delta_psi_rate_c + psi_rate_track;
-
-						/* limit turn rate */
-						if (psi_rate_c > p.headingr_lim) {
-							psi_rate_c = p.headingr_lim;
-
-						} else if (psi_rate_c < -p.headingr_lim) {
-							psi_rate_c = -p.headingr_lim;
-						}
-
-						float psi_rate_e = psi_rate_c - att.yawspeed;
-
-						// XXX sanity check: Assume 10 m/s stall speed and no stall condition
-						float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
-
-						if (ground_speed < 10.0f) {
-							ground_speed = 10.0f;
-						}
-
-						float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
-
-						attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
-
-						if (verbose) {
-							printf("psi_rate_c %.4f ", (double)psi_rate_c);
-							printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
-							printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
-						}
-
-						if (verbose && counter % 100 == 0)
-							printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
-
-					} else {
-						if (verbose && counter % 100 == 0)
-							printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
-					}
-
-					/* Very simple Altitude Control */
-					if (pos_updated) {
-
-						//TODO: take care of relative vs. ab. altitude
-						attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
-
-					}
-
-					// XXX need speed control
-					attitude_setpoint.thrust = 0.7f;
-
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
-
-					/* measure in what intervals the controller runs */
-					perf_count(fw_interval_perf);
-
-					counter++;
-
-				} else {
-					// XXX no setpoint, decent default needed (loiter?)
-				}
-			}
-		}
-	}
-
-	printf("[fixedwing_pos_control] exiting.\n");
-	thread_running = false;
-
-
-	close(attitude_setpoint_pub);
-
-	fflush(stdout);
-	exit(0);
-
-	return 0;
-
-}
-
-/* Startup Functions */
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int fixedwing_pos_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("fixedwing_pos_control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("fixedwing_pos_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 2048,
-					 fixedwing_pos_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tfixedwing_pos_control is running\n");
-
-		} else {
-			printf("\tfixedwing_pos_control not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
diff --git a/src/modules/fixedwing_pos_control/module.mk b/src/modules/fixedwing_pos_control/module.mk
deleted file mode 100644
index b976377e9..000000000
--- a/src/modules/fixedwing_pos_control/module.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Fixedwing PositionControl application
-#
-
-MODULE_COMMAND	= fixedwing_pos_control
-
-SRCS		= fixedwing_pos_control_main.c
diff --git a/src/modules/position_estimator/module.mk b/src/modules/position_estimator/module.mk
deleted file mode 100644
index f64095d9d..000000000
--- a/src/modules/position_estimator/module.mk
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build the position estimator
-#
-
-MODULE_COMMAND		= position_estimator
-
-# XXX this should be converted to a deamon, its a pretty bad example app
-MODULE_PRIORITY	 	= SCHED_PRIORITY_DEFAULT
-MODULE_STACKSIZE	= 4096
-
-SRCS		 	= position_estimator_main.c
diff --git a/src/modules/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c
deleted file mode 100644
index e84945299..000000000
--- a/src/modules/position_estimator/position_estimator_main.c
+++ /dev/null
@@ -1,423 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *			 Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file position_estimator_main.c
- * Model-identification based position estimator for multirotors
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <float.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <limits.h>
-#include <math.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <poll.h>
-
-#define N_STATES 6
-#define ERROR_COVARIANCE_INIT 3
-#define R_EARTH 6371000.0
-
-#define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000
-#define REPROJECTION_COUNTER_LIMIT 125
-
-__EXPORT int position_estimator_main(int argc, char *argv[]);
-
-static uint16_t position_estimator_counter_position_information;
-
-/* values for map projection */
-static double phi_1;
-static double sin_phi_1;
-static double cos_phi_1;
-static double lambda_0;
-static double scale;
-
-/**
- * Initializes the map transformation.
- *
- * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-{
-	/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	phi_1 = lat_0 / 180.0 * M_PI;
-	lambda_0 = lon_0 / 180.0 * M_PI;
-
-	sin_phi_1 = sin(phi_1);
-	cos_phi_1 = cos(phi_1);
-
-	/* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale
-
-	/* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */
-	const double r_earth = 6371000;
-
-	double lat1 = phi_1;
-	double lon1 = lambda_0;
-
-	double lat2 = phi_1 + 0.5 / 180 * M_PI;
-	double lon2 = lambda_0 + 0.5 / 180 * M_PI;
-	double sin_lat_2 = sin(lat2);
-	double cos_lat_2 = cos(lat2);
-	double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth;
-
-	/* 2) calculate distance rho on plane */
-	double k_bar = 0;
-	double c =  acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0));
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane
-	double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)));
-	double rho = sqrt(pow(x2, 2) + pow(y2, 2));
-
-	scale = d / rho;
-
-}
-
-/**
- * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_project(double lat, double lon, float *x, float *y)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	double phi = lat / 180.0 * M_PI;
-	double lambda = lon / 180.0 * M_PI;
-
-	double sin_phi = sin(phi);
-	double cos_phi = cos(phi);
-
-	double k_bar = 0;
-	/* using small angle approximation (formula in comment is without aproximation) */
-	double c =  acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c =  acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) );
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	/* using small angle approximation (formula in comment is without aproximation) */
-	*y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale;
-	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; //	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale;
-
-//	printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
-}
-
-/**
- * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_reproject(float x, float y, double *lat, double *lon)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-
-	double x_descaled = x / scale;
-	double y_descaled = y / scale;
-
-	double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2));
-	double sin_c = sin(c);
-	double cos_c = cos(c);
-
-	double lat_sphere = 0;
-
-	if (c != 0)
-		lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c);
-	else
-		lat_sphere = asin(cos_c * sin_phi_1);
-
-//	printf("lat_sphere = %.10f\n",lat_sphere);
-
-	double lon_sphere = 0;
-
-	if (phi_1  == M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled));
-
-	} else if (phi_1 == -M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled));
-
-	} else {
-
-		lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c));
-		//using small angle approximation
-//    	double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c);
-//    	if(denominator != 0)
-//    	{
-//    		lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator);
-//    	}
-//    	else
-//    	{
-//    	...
-//    	}
-	}
-
-//	printf("lon_sphere = %.10f\n",lon_sphere);
-
-	*lat = lat_sphere * 180.0 / M_PI;
-	*lon = lon_sphere * 180.0 / M_PI;
-
-}
-
-/****************************************************************************
- * main
- ****************************************************************************/
-
-int position_estimator_main(int argc, char *argv[])
-{
-
-	/* welcome user */
-	printf("[multirotor position_estimator] started\n");
-
-	/* initialize values */
-	static float u[2] = {0, 0};
-	static float z[3] = {0, 0, 0};
-	static float xapo[N_STATES] = {0, 0, 0, 0, 0, 0};
-	static float Papo[N_STATES * N_STATES] = {ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0
-						 };
-
-	static float xapo1[N_STATES];
-	static float Papo1[36];
-
-	static float gps_covariance[3] = {0.0f, 0.0f, 0.0f};
-
-	static uint16_t counter = 0;
-	position_estimator_counter_position_information = 0;
-
-	uint8_t predict_only = 1;
-
-	bool gps_valid = false;
-
-	bool new_initialization = true;
-
-	static double lat_current = 0.0d;//[°]] --> 47.0
-	static double lon_current = 0.0d; //[°]] -->8.5
-	float alt_current = 0.0f;
-
-
-	//TODO: handle flight without gps but with estimator
-
-	/* subscribe to vehicle status, attitude, gps */
-	struct vehicle_gps_position_s gps;
-	gps.fix_type = 0;
-	struct vehicle_status_s vstatus;
-	struct vehicle_attitude_s att;
-
-	int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* subscribe to attitude at 100 Hz */
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-
-	/* wait until gps signal turns valid, only then can we initialize the projection */
-	while (gps.fix_type < 3) {
-		struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} };
-
-		/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
-		 * this choice is critical, since the vehicle status might not
-		 * actually change, if this app is started after GPS lock was
-		 * aquired.
-		 */
-		if (poll(fds, 1, 5000)) {
-			/* Wait for the GPS update to propagate (we have some time) */
-			usleep(5000);
-			/* Read wether the vehicle status changed */
-			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-			gps_valid = (gps.fix_type > 2);
-		}
-	}
-
-	/* get gps value for first initialization */
-	orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-	lat_current = ((double)(gps.lat)) * 1e-7;
-	lon_current = ((double)(gps.lon)) * 1e-7;
-	alt_current = gps.alt * 1e-3;
-
-	/* initialize coordinates */
-	map_projection_init(lat_current, lon_current);
-
-	/* publish global position messages only after first GPS message */
-	struct vehicle_local_position_s local_pos = {
-		.x = 0,
-		.y = 0,
-		.z = 0
-	};
-	orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
-
-	printf("[multirotor position estimator] initialized projection with: lat: %.10f,  lon:%.10f\n", lat_current, lon_current);
-
-	while (1) {
-
-		/*This runs at the rate of the sensors, if we have also a new gps update this is used in the position_estimator function */
-		struct pollfd fds[1] = { {.fd = vehicle_attitude_sub, .events = POLLIN} };
-
-		if (poll(fds, 1, 5000) <= 0) {
-			/* error / timeout */
-		} else {
-
-			orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-			/* got attitude, updating pos as well */
-			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
-
-			/*copy attitude */
-			u[0] = att.roll;
-			u[1] = att.pitch;
-
-			/* initialize map projection with the last estimate (not at full rate) */
-			if (gps.fix_type > 2) {
-				/* Project gps lat lon (Geographic coordinate system) to plane*/
-				map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1]));
-
-				local_pos.x = z[0];
-				local_pos.y = z[1];
-				/* negative offset from initialization altitude */
-				local_pos.z = alt_current - (gps.alt) * 1e-3;
-
-
-				orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos);
-			}
-
-
-			// 	gps_covariance[0] = gps.eph; //TODO: needs scaling
-			// 	gps_covariance[1] = gps.eph;
-			// 	gps_covariance[2] = gps.epv;
-
-			// } else {
-			// 	/* we can not use the gps signal (it is of low quality) */
-			// 	predict_only = 1;
-			// }
-
-			// //		predict_only = 0;																//TODO: only for testing, removeme, XXX
-			// //		z[0] = sinf(((float)counter)/180.0f*3.14159265f);								//TODO: only for testing, removeme, XXX
-			// //		usleep(100000);																	//TODO: only for testing, removeme, XXX
-
-
-			// /*Get new estimation (this is calculated in the plane) */
-			// //TODO: if new_initialization == true: use 0,0,0, else use xapo
-			// if (true == new_initialization) {																								//TODO,XXX: uncomment!
-			// 	xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane
-			// 	xapo[2] = 0;
-			// 	xapo[4] = 0;
-			// 	position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
-
-			// } else {
-			// 	position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
-			// }
-
-
-
-			// /* Copy values from xapo1 to xapo */
-			// int i;
-
-			// for (i = 0; i < N_STATES; i++) {
-			// 	xapo[i] = xapo1[i];
-			// }
-
-			// if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) {
-			// 	/* Reproject from plane to geographic coordinate system */
-			// 	//		map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment!
-			// 	map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme
-			// 	//		//DEBUG
-			// 	//			if(counter%500 == 0)
-			// 	//			{
-			// 	//				printf("phi_1: %.10f\n", phi_1);
-			// 	//				printf("lambda_0: %.10f\n", lambda_0);
-			// 	//				printf("lat_estimated: %.10f\n", lat_current);
-			// 	//				printf("lon_estimated: %.10f\n", lon_current);
-			// 	//				printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]);
-			// 	//				fflush(stdout);
-			// 	//
-			// 	//			}
-
-			// 	//			if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5]))
-			// 	//			{
-			// 	/* send out */
-
-			// 	global_pos.lat = lat_current;
-			// 	global_pos.lon = lon_current;
-			// 	global_pos.alt = xapo1[4];
-			// 	global_pos.vx = xapo1[1];
-			// 	global_pos.vy = xapo1[3];
-			// 	global_pos.vz = xapo1[5];
-
-				/* publish current estimate */
-				// orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos);
-				//			}
-				//			else
-				//			{
-				//				printf("[position estimator] ERROR: nan values, lat_current=%.4f, lon_current=%.4f, z[0]=%.4f z[1]=%.4f\n", lat_current, lon_current, z[0], z[1]);
-				//				fflush(stdout);
-				//			}
-
-			// }
-
-			counter++;
-		}
-
-	}
-
-	return 0;
-}
-
-
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
deleted file mode 100755
index 977565b8e..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * kalman_dlqe1.c
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3],
-                  const real32_T x_aposteriori_k[3], real32_T z, real32_T
-                  x_aposteriori[3])
-{
-	printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z);
-	printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2]));
-  real32_T y;
-  int32_T i0;
-  real32_T b_y[3];
-  int32_T i1;
-  real32_T f0;
-  y = 0.0F;
-  for (i0 = 0; i0 < 3; i0++) {
-    b_y[i0] = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      b_y[i0] += C[i1] * A[i1 + 3 * i0];
-    }
-
-    y += b_y[i0] * x_aposteriori_k[i0];
-  }
-
-  y = z - y;
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-    }
-
-    x_aposteriori[i0] = f0 + K[i0] * y;
-  }
-  //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2]));
-}
-
-/* End of code generation (kalman_dlqe1.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
deleted file mode 100755
index 2f5330563..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1.h
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_H__
-#define __KALMAN_DLQE1_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
-#endif
-/* End of code generation (kalman_dlqe1.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
deleted file mode 100755
index 6627f76e9..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe1_initialize.c
- *
- * Code generation for function 'kalman_dlqe1_initialize'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-#include "kalman_dlqe1_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (kalman_dlqe1_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
deleted file mode 100755
index a77eb5712..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1_initialize.h
- *
- * Code generation for function 'kalman_dlqe1_initialize'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_INITIALIZE_H__
-#define __KALMAN_DLQE1_INITIALIZE_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1_initialize(void);
-#endif
-/* End of code generation (kalman_dlqe1_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
deleted file mode 100755
index a65536f79..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe1_terminate.c
- *
- * Code generation for function 'kalman_dlqe1_terminate'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-#include "kalman_dlqe1_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (kalman_dlqe1_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
deleted file mode 100755
index 100c7f76c..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1_terminate.h
- *
- * Code generation for function 'kalman_dlqe1_terminate'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_TERMINATE_H__
-#define __KALMAN_DLQE1_TERMINATE_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1_terminate(void);
-#endif
-/* End of code generation (kalman_dlqe1_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
deleted file mode 100755
index d4b2c2d61..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * kalman_dlqe1_types.h
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_TYPES_H__
-#define __KALMAN_DLQE1_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (kalman_dlqe1_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
deleted file mode 100755
index 11b999064..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * kalman_dlqe2.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1);
-
-/* Function Definitions */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1)
-{
-  real32_T y;
-  real32_T f1;
-  real32_T f2;
-  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
-    y = ((real32_T)rtNaN);
-  } else {
-    f1 = (real32_T)fabs(u0);
-    f2 = (real32_T)fabs(u1);
-    if (rtIsInfF(u1)) {
-      if (f1 == 1.0F) {
-        y = ((real32_T)rtNaN);
-      } else if (f1 > 1.0F) {
-        if (u1 > 0.0F) {
-          y = ((real32_T)rtInf);
-        } else {
-          y = 0.0F;
-        }
-      } else if (u1 > 0.0F) {
-        y = 0.0F;
-      } else {
-        y = ((real32_T)rtInf);
-      }
-    } else if (f2 == 0.0F) {
-      y = 1.0F;
-    } else if (f2 == 1.0F) {
-      if (u1 > 0.0F) {
-        y = u0;
-      } else {
-        y = 1.0F / u0;
-      }
-    } else if (u1 == 2.0F) {
-      y = u0 * u0;
-    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
-      y = (real32_T)sqrt(u0);
-    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
-      y = ((real32_T)rtNaN);
-    } else {
-      y = (real32_T)pow(u0, u1);
-    }
-  }
-
-  return y;
-}
-
-void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
-                  real32_T x_aposteriori_k[3], real32_T z, real32_T
-                  x_aposteriori[3])
-{
-	//printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3));
-	//printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3));
-  real32_T A[9];
-  real32_T y;
-  int32_T i0;
-  static const int8_T iv0[3] = { 0, 0, 1 };
-
-  real32_T b_k1[3];
-  int32_T i1;
-  static const int8_T iv1[3] = { 1, 0, 0 };
-
-  real32_T f0;
-  A[0] = 1.0F;
-  A[3] = dt;
-  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
-  A[1] = 0.0F;
-  A[4] = 1.0F;
-  A[7] = dt;
-  y = 0.0F;
-  for (i0 = 0; i0 < 3; i0++) {
-    A[2 + 3 * i0] = (real32_T)iv0[i0];
-    b_k1[i0] = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
-    }
-
-    y += b_k1[i0] * x_aposteriori_k[i0];
-  }
-
-  y = z - y;
-  b_k1[0] = k1;
-  b_k1[1] = k2;
-  b_k1[2] = k3;
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-    }
-
-    x_aposteriori[i0] = f0 + b_k1[i0] * y;
-  }
-}
-
-/* End of code generation (kalman_dlqe2.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
deleted file mode 100755
index 30170ae22..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_H__
-#define __KALMAN_DLQE2_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
-#endif
-/* End of code generation (kalman_dlqe2.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
deleted file mode 100755
index de5a1d8aa..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe2_initialize.c
- *
- * Code generation for function 'kalman_dlqe2_initialize'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-#include "kalman_dlqe2_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe2_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (kalman_dlqe2_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
deleted file mode 100755
index 3d507ff31..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2_initialize.h
- *
- * Code generation for function 'kalman_dlqe2_initialize'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_INITIALIZE_H__
-#define __KALMAN_DLQE2_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2_initialize(void);
-#endif
-/* End of code generation (kalman_dlqe2_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
deleted file mode 100755
index 0757c878c..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe2_terminate.c
- *
- * Code generation for function 'kalman_dlqe2_terminate'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-#include "kalman_dlqe2_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe2_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (kalman_dlqe2_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
deleted file mode 100755
index 23995020b..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2_terminate.h
- *
- * Code generation for function 'kalman_dlqe2_terminate'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_TERMINATE_H__
-#define __KALMAN_DLQE2_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2_terminate(void);
-#endif
-/* End of code generation (kalman_dlqe2_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
deleted file mode 100755
index f7a04d908..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * kalman_dlqe2_types.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_TYPES_H__
-#define __KALMAN_DLQE2_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (kalman_dlqe2_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
deleted file mode 100755
index 9efe2ea7a..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
+++ /dev/null
@@ -1,137 +0,0 @@
-/*

- * kalman_dlqe3.c

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "randn.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-static real32_T rt_powf_snf(real32_T u0, real32_T u1);

-

-/* Function Definitions */

-static real32_T rt_powf_snf(real32_T u0, real32_T u1)

-{

-  real32_T y;

-  real32_T f1;

-  real32_T f2;

-  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {

-    y = ((real32_T)rtNaN);

-  } else {

-    f1 = (real32_T)fabs(u0);

-    f2 = (real32_T)fabs(u1);

-    if (rtIsInfF(u1)) {

-      if (f1 == 1.0F) {

-        y = ((real32_T)rtNaN);

-      } else if (f1 > 1.0F) {

-        if (u1 > 0.0F) {

-          y = ((real32_T)rtInf);

-        } else {

-          y = 0.0F;

-        }

-      } else if (u1 > 0.0F) {

-        y = 0.0F;

-      } else {

-        y = ((real32_T)rtInf);

-      }

-    } else if (f2 == 0.0F) {

-      y = 1.0F;

-    } else if (f2 == 1.0F) {

-      if (u1 > 0.0F) {

-        y = u0;

-      } else {

-        y = 1.0F / u0;

-      }

-    } else if (u1 == 2.0F) {

-      y = u0 * u0;

-    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {

-      y = (real32_T)sqrt(u0);

-    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {

-      y = ((real32_T)rtNaN);

-    } else {

-      y = (real32_T)pow(u0, u1);

-    }

-  }

-

-  return y;

-}

-

-void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const

-                  real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate,

-                  real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3])

-{

-  real32_T A[9];

-  int32_T i0;

-  static const int8_T iv0[3] = { 0, 0, 1 };

-

-  real_T b;

-  real32_T y;

-  real32_T b_y[3];

-  int32_T i1;

-  static const int8_T iv1[3] = { 1, 0, 0 };

-

-  real32_T b_k1[3];

-  real32_T f0;

-  A[0] = 1.0F;

-  A[3] = dt;

-  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);

-  A[1] = 0.0F;

-  A[4] = 1.0F;

-  A[7] = dt;

-  for (i0 = 0; i0 < 3; i0++) {

-    A[2 + 3 * i0] = (real32_T)iv0[i0];

-  }

-

-  if (addNoise == 1.0F) {

-    b = randn();

-    z += sigma * (real32_T)b;

-  }

-

-  if (posUpdate != 0.0F) {

-    y = 0.0F;

-    for (i0 = 0; i0 < 3; i0++) {

-      b_y[i0] = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];

-      }

-

-      y += b_y[i0] * x_aposteriori_k[i0];

-    }

-

-    y = z - y;

-    b_k1[0] = k1;

-    b_k1[1] = k2;

-    b_k1[2] = k3;

-    for (i0 = 0; i0 < 3; i0++) {

-      f0 = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];

-      }

-

-      x_aposteriori[i0] = f0 + b_k1[i0] * y;

-    }

-  } else {

-    for (i0 = 0; i0 < 3; i0++) {

-      x_aposteriori[i0] = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1];

-      }

-    }

-  }

-}

-

-/* End of code generation (kalman_dlqe3.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
deleted file mode 100755
index 9bbffbbb3..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3.h

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_H__

-#define __KALMAN_DLQE3_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]);

-#endif

-/* End of code generation (kalman_dlqe3.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
deleted file mode 100755
index 8f2275c13..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
+++ /dev/null
@@ -1,32 +0,0 @@
-/*

- * kalman_dlqe3_data.c

- *

- * Code generation for function 'kalman_dlqe3_data'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-uint32_T method;

-uint32_T state[2];

-uint32_T b_method;

-uint32_T b_state;

-uint32_T c_state[2];

-boolean_T state_not_empty;

-

-/* Function Declarations */

-

-/* Function Definitions */

-/* End of code generation (kalman_dlqe3_data.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
deleted file mode 100755
index 952eb7b89..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*

- * kalman_dlqe3_data.h

- *

- * Code generation for function 'kalman_dlqe3_data'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_DATA_H__

-#define __KALMAN_DLQE3_DATA_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-extern uint32_T method;

-extern uint32_T state[2];

-extern uint32_T b_method;

-extern uint32_T b_state;

-extern uint32_T c_state[2];

-extern boolean_T state_not_empty;

-

-/* Variable Definitions */

-

-/* Function Declarations */

-#endif

-/* End of code generation (kalman_dlqe3_data.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
deleted file mode 100755
index b87d604c4..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
+++ /dev/null
@@ -1,47 +0,0 @@
-/*

- * kalman_dlqe3_initialize.c

- *

- * Code generation for function 'kalman_dlqe3_initialize'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_initialize.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-

-/* Function Definitions */

-void kalman_dlqe3_initialize(void)

-{

-  int32_T i;

-  static const uint32_T uv0[2] = { 362436069U, 0U };

-

-  rt_InitInfAndNaN(8U);

-  state_not_empty = FALSE;

-  b_state = 1144108930U;

-  b_method = 7U;

-  method = 0U;

-  for (i = 0; i < 2; i++) {

-    c_state[i] = 362436069U + 158852560U * (uint32_T)i;

-    state[i] = uv0[i];

-  }

-

-  if (state[1] == 0U) {

-    state[1] = 521288629U;

-  }

-}

-

-/* End of code generation (kalman_dlqe3_initialize.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
deleted file mode 100755
index 9dee90f9e..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3_initialize.h

- *

- * Code generation for function 'kalman_dlqe3_initialize'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_INITIALIZE_H__

-#define __KALMAN_DLQE3_INITIALIZE_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3_initialize(void);

-#endif

-/* End of code generation (kalman_dlqe3_initialize.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
deleted file mode 100755
index b00858205..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*

- * kalman_dlqe3_terminate.c

- *

- * Code generation for function 'kalman_dlqe3_terminate'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_terminate.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-

-/* Function Definitions */

-void kalman_dlqe3_terminate(void)

-{

-  /* (no terminate code required) */

-}

-

-/* End of code generation (kalman_dlqe3_terminate.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
deleted file mode 100755
index 69cc85c76..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3_terminate.h

- *

- * Code generation for function 'kalman_dlqe3_terminate'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_TERMINATE_H__

-#define __KALMAN_DLQE3_TERMINATE_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3_terminate(void);

-#endif

-/* End of code generation (kalman_dlqe3_terminate.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
deleted file mode 100755
index f36ea4557..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*

- * kalman_dlqe3_types.h

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:30 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_TYPES_H__

-#define __KALMAN_DLQE3_TYPES_H__

-

-/* Type Definitions */

-

-#endif

-/* End of code generation (kalman_dlqe3_types.h) */

diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
deleted file mode 100755
index 5139848bc..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
- * positionKalmanFilter1D.c
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const
-  real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T
-  P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T
-  Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3],
-  real32_T P_aposteriori[9])
-{
-  int32_T i0;
-  real32_T f0;
-  int32_T k;
-  real32_T b_A[9];
-  int32_T i1;
-  real32_T P_apriori[9];
-  real32_T y;
-  real32_T K[3];
-  real32_T S;
-  int8_T I[9];
-
-  /* prediction */
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (k = 0; k < 3; k++) {
-      f0 += A[i0 + 3 * k] * x_aposteriori_k[k];
-    }
-
-    x_aposteriori[i0] = f0 + B[i0] * u;
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      b_A[i0 + 3 * k] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k];
-      }
-    }
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1];
-      }
-
-      P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k];
-    }
-  }
-
-  if ((real32_T)fabs(u) < thresh) {
-    x_aposteriori[1] *= decay;
-  }
-
-  /* update */
-  if (gps_update == 1) {
-    y = 0.0F;
-    for (k = 0; k < 3; k++) {
-      y += C[k] * x_aposteriori[k];
-      K[k] = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        K[k] += C[i0] * P_apriori[i0 + 3 * k];
-      }
-    }
-
-    y = z - y;
-    S = 0.0F;
-    for (k = 0; k < 3; k++) {
-      S += K[k] * C[k];
-    }
-
-    S += R;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (k = 0; k < 3; k++) {
-        f0 += P_apriori[i0 + 3 * k] * C[k];
-      }
-
-      K[i0] = f0 / S;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      x_aposteriori[i0] += K[i0] * y;
-    }
-
-    for (i0 = 0; i0 < 9; i0++) {
-      I[i0] = 0;
-    }
-
-    for (k = 0; k < 3; k++) {
-      I[k + 3 * k] = 1;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0];
-      }
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        P_aposteriori[i0 + 3 * k] = 0.0F;
-        for (i1 = 0; i1 < 3; i1++) {
-          P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k];
-        }
-      }
-    }
-  } else {
-    for (i0 = 0; i0 < 9; i0++) {
-      P_aposteriori[i0] = P_apriori[i0];
-    }
-  }
-}
-
-/* End of code generation (positionKalmanFilter1D.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
deleted file mode 100755
index 205c8eb4e..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D.h
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_H__
-#define __POSITIONKALMANFILTER1D_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
-#endif
-/* End of code generation (positionKalmanFilter1D.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
deleted file mode 100755
index 4c535618a..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
- * positionKalmanFilter1D_dT.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3],
-  const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update,
-  const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T
-  x_aposteriori[3], real32_T P_aposteriori[9])
-{
-  real32_T A[9];
-  int32_T i;
-  static const int8_T iv0[3] = { 0, 0, 1 };
-
-  real32_T K[3];
-  real32_T f0;
-  int32_T i0;
-  real32_T b_A[9];
-  int32_T i1;
-  real32_T P_apriori[9];
-  static const int8_T iv1[3] = { 1, 0, 0 };
-
-  real32_T fv0[3];
-  real32_T y;
-  static const int8_T iv2[3] = { 1, 0, 0 };
-
-  real32_T S;
-  int8_T I[9];
-
-  /* dynamics */
-  A[0] = 1.0F;
-  A[3] = dT;
-  A[6] = -0.5F * dT * dT;
-  A[1] = 0.0F;
-  A[4] = 1.0F;
-  A[7] = -dT;
-  for (i = 0; i < 3; i++) {
-    A[2 + 3 * i] = (real32_T)iv0[i];
-  }
-
-  /* prediction */
-  K[0] = 0.5F * dT * dT;
-  K[1] = dT;
-  K[2] = 0.0F;
-  for (i = 0; i < 3; i++) {
-    f0 = 0.0F;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 += A[i + 3 * i0] * x_aposteriori_k[i0];
-    }
-
-    x_aposteriori[i] = f0 + K[i] * u;
-  }
-
-  for (i = 0; i < 3; i++) {
-    for (i0 = 0; i0 < 3; i0++) {
-      b_A[i + 3 * i0] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0];
-      }
-    }
-  }
-
-  for (i = 0; i < 3; i++) {
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1];
-      }
-
-      P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0];
-    }
-  }
-
-  if ((real32_T)fabs(u) < thresh) {
-    x_aposteriori[1] *= decay;
-  }
-
-  /* update */
-  if (gps_update == 1) {
-    f0 = 0.0F;
-    for (i = 0; i < 3; i++) {
-      f0 += (real32_T)iv1[i] * x_aposteriori[i];
-      fv0[i] = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i];
-      }
-    }
-
-    y = z - f0;
-    f0 = 0.0F;
-    for (i = 0; i < 3; i++) {
-      f0 += fv0[i] * (real32_T)iv2[i];
-    }
-
-    S = f0 + (real32_T)R;
-    for (i = 0; i < 3; i++) {
-      f0 = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0];
-      }
-
-      K[i] = f0 / S;
-    }
-
-    for (i = 0; i < 3; i++) {
-      x_aposteriori[i] += K[i] * y;
-    }
-
-    for (i = 0; i < 9; i++) {
-      I[i] = 0;
-    }
-
-    for (i = 0; i < 3; i++) {
-      I[i + 3 * i] = 1;
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (i0 = 0; i0 < 3; i0++) {
-        A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i];
-      }
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (i0 = 0; i0 < 3; i0++) {
-        P_aposteriori[i + 3 * i0] = 0.0F;
-        for (i1 = 0; i1 < 3; i1++) {
-          P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0];
-        }
-      }
-    }
-  } else {
-    for (i = 0; i < 9; i++) {
-      P_aposteriori[i] = P_apriori[i];
-    }
-  }
-}
-
-/* End of code generation (positionKalmanFilter1D_dT.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
deleted file mode 100755
index 94cbe2ce6..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_H__
-#define __POSITIONKALMANFILTER1D_DT_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
deleted file mode 100755
index aa89f8a9d..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_initialize.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT_initialize'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-#include "positionKalmanFilter1D_dT_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
deleted file mode 100755
index 8d358a9a3..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_initialize.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT_initialize'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
-#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT_initialize(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
deleted file mode 100755
index 20ed2edbb..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_terminate.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT_terminate'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-#include "positionKalmanFilter1D_dT_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
deleted file mode 100755
index 5eb5807a0..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_terminate.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT_terminate'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
-#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT_terminate(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
deleted file mode 100755
index 43e5f016c..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_types.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__
-#define __POSITIONKALMANFILTER1D_DT_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
deleted file mode 100755
index 5bd87c390..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_initialize.c
- *
- * Code generation for function 'positionKalmanFilter1D_initialize'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-#include "positionKalmanFilter1D_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (positionKalmanFilter1D_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
deleted file mode 100755
index 44bce472f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_initialize.h
- *
- * Code generation for function 'positionKalmanFilter1D_initialize'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__
-#define __POSITIONKALMANFILTER1D_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_initialize(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
deleted file mode 100755
index 41e11936f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_terminate.c
- *
- * Code generation for function 'positionKalmanFilter1D_terminate'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-#include "positionKalmanFilter1D_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (positionKalmanFilter1D_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
deleted file mode 100755
index e84ea01bc..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_terminate.h
- *
- * Code generation for function 'positionKalmanFilter1D_terminate'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__
-#define __POSITIONKALMANFILTER1D_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_terminate(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
deleted file mode 100755
index 4b473f56f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * positionKalmanFilter1D_types.h
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_TYPES_H__
-#define __POSITIONKALMANFILTER1D_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (positionKalmanFilter1D_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c
deleted file mode 100755
index 51aef7b76..000000000
--- a/src/modules/position_estimator_mc/codegen/randn.c
+++ /dev/null
@@ -1,524 +0,0 @@
-/*

- * randn.c

- *

- * Code generation for function 'randn'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "randn.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-static uint32_T d_state[625];

-

-/* Function Declarations */

-static real_T b_genrandu(uint32_T mt[625]);

-static real_T eml_rand_mt19937ar(uint32_T e_state[625]);

-static real_T eml_rand_shr3cong(uint32_T e_state[2]);

-static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]);

-static void genrandu(uint32_T s, uint32_T *e_state, real_T *r);

-static void twister_state_vector(uint32_T mt[625], real_T seed);

-

-/* Function Definitions */

-static real_T b_genrandu(uint32_T mt[625])

-{

-  real_T r;

-  int32_T exitg1;

-  uint32_T u[2];

-  boolean_T isvalid;

-  int32_T k;

-  boolean_T exitg2;

-

-  /* <LEGAL>   This is a uniform (0,1) pseudorandom number generator based on: */

-  /* <LEGAL> */

-  /* <LEGAL>    A C-program for MT19937, with initialization improved 2002/1/26. */

-  /* <LEGAL>    Coded by Takuji Nishimura and Makoto Matsumoto. */

-  /* <LEGAL> */

-  /* <LEGAL>    Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */

-  /* <LEGAL>    All rights reserved. */

-  /* <LEGAL> */

-  /* <LEGAL>    Redistribution and use in source and binary forms, with or without */

-  /* <LEGAL>    modification, are permitted provided that the following conditions */

-  /* <LEGAL>    are met: */

-  /* <LEGAL> */

-  /* <LEGAL>      1. Redistributions of source code must retain the above copyright */

-  /* <LEGAL>         notice, this list of conditions and the following disclaimer. */

-  /* <LEGAL> */

-  /* <LEGAL>      2. Redistributions in binary form must reproduce the above copyright */

-  /* <LEGAL>         notice, this list of conditions and the following disclaimer in the */

-  /* <LEGAL>         documentation and/or other materials provided with the distribution. */

-  /* <LEGAL> */

-  /* <LEGAL>      3. The names of its contributors may not be used to endorse or promote */

-  /* <LEGAL>         products derived from this software without specific prior written */

-  /* <LEGAL>         permission. */

-  /* <LEGAL> */

-  /* <LEGAL>    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */

-  /* <LEGAL>    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */

-  /* <LEGAL>    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */

-  /* <LEGAL>    A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR */

-  /* <LEGAL>    CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */

-  /* <LEGAL>    EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */

-  /* <LEGAL>    PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */

-  /* <LEGAL>    PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */

-  /* <LEGAL>    LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */

-  /* <LEGAL>    NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */

-  /* <LEGAL>    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */

-  do {

-    exitg1 = 0;

-    genrand_uint32_vector(mt, u);

-    r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T)

-                                  (u[1] >> 6U));

-    if (r == 0.0) {

-      if ((mt[624] >= 1U) && (mt[624] < 625U)) {

-        isvalid = TRUE;

-      } else {

-        isvalid = FALSE;

-      }

-

-      if (isvalid) {

-        isvalid = FALSE;

-        k = 1;

-        exitg2 = FALSE;

-        while ((exitg2 == FALSE) && (k < 625)) {

-          if (mt[k - 1] == 0U) {

-            k++;

-          } else {

-            isvalid = TRUE;

-            exitg2 = TRUE;

-          }

-        }

-      }

-

-      if (!isvalid) {

-        twister_state_vector(mt, 5489.0);

-      }

-    } else {

-      exitg1 = 1;

-    }

-  } while (exitg1 == 0);

-

-  return r;

-}

-

-static real_T eml_rand_mt19937ar(uint32_T e_state[625])

-{

-  real_T r;

-  int32_T exitg1;

-  uint32_T u32[2];

-  int32_T i;

-  static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068,

-    0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787,

-    0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557,

-    0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991,

-    0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419,

-    0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975,

-    0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107,

-    0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997,

-    0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153,

-    0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165,

-    0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959,

-    0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086,

-    0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062,

-    0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548,

-    1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093,

-    1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034,

-    1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357,

-    1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815,

-    1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083,

-    1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944,

-    1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653,

-    1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949,

-    1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382,

-    1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073,

-    1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936,

-    1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328,

-    1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998,

-    1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547,

-    1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872,

-    1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808,

-    1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049,

-    1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761,

-    1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417,

-    1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591,

-    1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609,

-    1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487,

-    1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818,

-    1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719,

-    1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782,

-    1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172,

-    1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452,

-    1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082,

-    1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281,

-    1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127,

-    1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043,

-    1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569,

-    1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366,

-    1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053,

-    2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753,

-    2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983,

-    2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952,

-    2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431,

-    2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416,

-    2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379,

-    2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137,

-    2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729,

-    2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715,

-    2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105,

-    2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184,

-    2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674,

-    2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999,

-    2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341,

-    2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214,

-    3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143,

-    3.65415288536101, 3.91075795952492 };

-

-  real_T u;

-  static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108,

-    0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131,

-    0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857,

-    0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884,

-    0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964,

-    0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187,

-    0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157,

-    0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863,

-    0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512,

-    0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774,

-    0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697,

-    0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624,

-    0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914,

-    0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987,

-    0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354,

-    0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766,

-    0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952,

-    0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322,

-    0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468,

-    0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458,

-    0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773,

-    0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716,

-    0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804,

-    0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022,

-    0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188,

-    0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832,

-    0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393,

-    0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032,

-    0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077,

-    0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522,

-    0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601,

-    0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337,

-    0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803,

-    0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183,

-    0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668,

-    0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261,

-    0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942,

-    0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501,

-    0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681,

-    0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331,

-    0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881,

-    0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135,

-    0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268,

-    0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839,

-    0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366,

-    0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263,

-    0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514,

-    0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669,

-    0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597,

-    0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839,

-    0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487,

-    0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009,

-    0.093365311912691, 0.0911136480663738, 0.0888735920682759,

-    0.0866451944505581, 0.0844285095703535, 0.082223595813203,

-    0.0800305158146631, 0.0778493367020961, 0.0756801303589272,

-    0.0735229737139814, 0.0713779490588905, 0.0692451443970068,

-    0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954,

-    0.0587679529209339, 0.0567106901062031, 0.0546664613248891,

-    0.0526354182767924, 0.0506177238609479, 0.0486135532158687,

-    0.0466230949019305, 0.0446465522512946, 0.0426841449164746,

-    0.0407361106559411, 0.0388027074045262, 0.0368842156885674,

-    0.0349809414617162, 0.0330932194585786, 0.0312214171919203,

-    0.0293659397581334, 0.0275272356696031, 0.0257058040085489,

-    0.0239022033057959, 0.0221170627073089, 0.0203510962300445,

-    0.0186051212757247, 0.0168800831525432, 0.0151770883079353,

-    0.0134974506017399, 0.0118427578579079, 0.0102149714397015,

-    0.00861658276939875, 0.00705087547137324, 0.00552240329925101,

-    0.00403797259336304, 0.00260907274610216, 0.0012602859304986,

-    0.000477467764609386 };

-

-  real_T x;

-  do {

-    exitg1 = 0;

-    genrand_uint32_vector(e_state, u32);

-    i = (int32_T)((u32[1] >> 24U) + 1U);

-    r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] &

-           16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i];

-    if (fabs(r) <= dv1[i - 1]) {

-      exitg1 = 1;

-    } else if (i < 256) {

-      u = b_genrandu(e_state);

-      if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) {

-        exitg1 = 1;

-      }

-    } else {

-      do {

-        u = b_genrandu(e_state);

-        x = log(u) * 0.273661237329758;

-        u = b_genrandu(e_state);

-      } while (!(-2.0 * log(u) > x * x));

-

-      if (r < 0.0) {

-        r = x - 3.65415288536101;

-      } else {

-        r = 3.65415288536101 - x;

-      }

-

-      exitg1 = 1;

-    }

-  } while (exitg1 == 0);

-

-  return r;

-}

-

-static real_T eml_rand_shr3cong(uint32_T e_state[2])

-{

-  real_T r;

-  uint32_T icng;

-  uint32_T jsr;

-  uint32_T ui;

-  int32_T j;

-  static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427,

-    0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948,

-    0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738,

-    1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008,

-    1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122,

-    1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503,

-    1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831,

-    1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713,

-    2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658,

-    2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 };

-

-  real_T x;

-  real_T y;

-  real_T s;

-  icng = 69069U * e_state[0] + 1234567U;

-  jsr = e_state[1] ^ e_state[1] << 13U;

-  jsr ^= jsr >> 17U;

-  jsr ^= jsr << 5U;

-  ui = icng + jsr;

-  j = (int32_T)(ui & 63U);

-  r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1];

-  if (fabs(r) <= dv0[j]) {

-  } else {

-    x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]);

-    icng = 69069U * icng + 1234567U;

-    jsr ^= jsr << 13U;

-    jsr ^= jsr >> 17U;

-    jsr ^= jsr << 5U;

-    y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10;

-    s = x + (0.5 + y);

-    if (s > 1.301198) {

-      if (r < 0.0) {

-        r = 0.4878992 * x - 0.4878992;

-      } else {

-        r = 0.4878992 - 0.4878992 * x;

-      }

-    } else if (s <= 0.9689279) {

-    } else {

-      s = 0.4878992 * x;

-      x = 0.4878992 - 0.4878992 * x;

-      if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) {

-        if (r < 0.0) {

-          r = -(0.4878992 - s);

-        } else {

-          r = 0.4878992 - s;

-        }

-      } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 /

-                 dv0[j + 1] <= exp(-0.5 * r * r)) {

-      } else {

-        do {

-          icng = 69069U * icng + 1234567U;

-          jsr ^= jsr << 13U;

-          jsr ^= jsr >> 17U;

-          jsr ^= jsr << 5U;

-          x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) /

-            2.776994;

-          icng = 69069U * icng + 1234567U;

-          jsr ^= jsr << 13U;

-          jsr ^= jsr >> 17U;

-          jsr ^= jsr << 5U;

-        } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) *

-                              2.328306436538696E-10) > x * x));

-

-        if (r < 0.0) {

-          r = x - 2.776994;

-        } else {

-          r = 2.776994 - x;

-        }

-      }

-    }

-  }

-

-  e_state[0] = icng;

-  e_state[1] = jsr;

-  return r;

-}

-

-static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2])

-{

-  int32_T i;

-  uint32_T mti;

-  int32_T kk;

-  uint32_T y;

-  uint32_T b_y;

-  uint32_T c_y;

-  uint32_T d_y;

-  for (i = 0; i < 2; i++) {

-    u[i] = 0U;

-  }

-

-  for (i = 0; i < 2; i++) {

-    mti = mt[624] + 1U;

-    if (mti >= 625U) {

-      for (kk = 0; kk < 227; kk++) {

-        y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U);

-        if ((int32_T)(y & 1U) == 0) {

-          b_y = y >> 1U;

-        } else {

-          b_y = y >> 1U ^ 2567483615U;

-        }

-

-        mt[kk] = mt[397 + kk] ^ b_y;

-      }

-

-      for (kk = 0; kk < 396; kk++) {

-        y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U);

-        if ((int32_T)(y & 1U) == 0) {

-          c_y = y >> 1U;

-        } else {

-          c_y = y >> 1U ^ 2567483615U;

-        }

-

-        mt[227 + kk] = mt[kk] ^ c_y;

-      }

-

-      y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U);

-      if ((int32_T)(y & 1U) == 0) {

-        d_y = y >> 1U;

-      } else {

-        d_y = y >> 1U ^ 2567483615U;

-      }

-

-      mt[623] = mt[396] ^ d_y;

-      mti = 1U;

-    }

-

-    y = mt[(int32_T)mti - 1];

-    mt[624] = mti;

-    y ^= y >> 11U;

-    y ^= y << 7U & 2636928640U;

-    y ^= y << 15U & 4022730752U;

-    y ^= y >> 18U;

-    u[i] = y;

-  }

-}

-

-static void genrandu(uint32_T s, uint32_T *e_state, real_T *r)

-{

-  int32_T hi;

-  uint32_T test1;

-  uint32_T test2;

-  hi = (int32_T)(s / 127773U);

-  test1 = 16807U * (s - (uint32_T)hi * 127773U);

-  test2 = 2836U * (uint32_T)hi;

-  if (test1 < test2) {

-    *e_state = (test1 - test2) + 2147483647U;

-  } else {

-    *e_state = test1 - test2;

-  }

-

-  *r = (real_T)*e_state * 4.6566128752457969E-10;

-}

-

-static void twister_state_vector(uint32_T mt[625], real_T seed)

-{

-  uint32_T r;

-  int32_T mti;

-  if (seed < 4.294967296E+9) {

-    if (seed >= 0.0) {

-      r = (uint32_T)seed;

-    } else {

-      r = 0U;

-    }

-  } else if (seed >= 4.294967296E+9) {

-    r = MAX_uint32_T;

-  } else {

-    r = 0U;

-  }

-

-  mt[0] = r;

-  for (mti = 0; mti < 623; mti++) {

-    r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti);

-    mt[1 + mti] = r;

-  }

-

-  mt[624] = 624U;

-}

-

-real_T randn(void)

-{

-  real_T r;

-  uint32_T e_state;

-  real_T t;

-  real_T b_r;

-  uint32_T f_state;

-  if (method == 0U) {

-    if (b_method == 4U) {

-      do {

-        genrandu(b_state, &e_state, &r);

-        genrandu(e_state, &b_state, &t);

-        b_r = 2.0 * r - 1.0;

-        t = 2.0 * t - 1.0;

-        t = t * t + b_r * b_r;

-      } while (!(t <= 1.0));

-

-      r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

-    } else if (b_method == 5U) {

-      r = eml_rand_shr3cong(c_state);

-    } else {

-      if (!state_not_empty) {

-        memset(&d_state[0], 0, 625U * sizeof(uint32_T));

-        twister_state_vector(d_state, 5489.0);

-        state_not_empty = TRUE;

-      }

-

-      r = eml_rand_mt19937ar(d_state);

-    }

-  } else if (method == 4U) {

-    e_state = state[0];

-    do {

-      genrandu(e_state, &f_state, &r);

-      genrandu(f_state, &e_state, &t);

-      b_r = 2.0 * r - 1.0;

-      t = 2.0 * t - 1.0;

-      t = t * t + b_r * b_r;

-    } while (!(t <= 1.0));

-

-    state[0] = e_state;

-    r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

-  } else {

-    r = eml_rand_shr3cong(state);

-  }

-

-  return r;

-}

-

-/* End of code generation (randn.c) */

diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h
deleted file mode 100755
index 8a2aa9277..000000000
--- a/src/modules/position_estimator_mc/codegen/randn.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * randn.h

- *

- * Code generation for function 'randn'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-#ifndef __RANDN_H__

-#define __RANDN_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern real_T randn(void);

-#endif

-/* End of code generation (randn.h) */

diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c
deleted file mode 100755
index c6fa7884e..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetInf.c
+++ /dev/null
@@ -1,139 +0,0 @@
-/*
- * rtGetInf.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *       MATLAB for code generation function to initialize non-finite, Inf and MinusInf
- */
-#include "rtGetInf.h"
-#define NumBitsPerChar	8U
-
-/* Function: rtGetInf ==================================================
- * Abstract:
- * Initialize rtInf needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetInf(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T inf = 0.0;
-  if (bitsPerReal == 32U) {
-    inf = rtGetInfF();
-  } else {
-    uint16_T one = 1U;
-    enum {
-      LittleEndian,
-      BigEndian
-    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-    switch (machByteOrder) {
-     case LittleEndian:
-      {
-        union {
-          LittleEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        inf = tmpVal.fltVal;
-        break;
-      }
-
-     case BigEndian:
-      {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        inf = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return inf;
-}
-
-/* Function: rtGetInfF ==================================================
- * Abstract:
- * Initialize rtInfF needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetInfF(void)
-{
-  IEEESingle infF;
-  infF.wordL.wordLuint = 0x7F800000U;
-  return infF.wordL.wordLreal;
-}
-
-/* Function: rtGetMinusInf ==================================================
- * Abstract:
- * Initialize rtMinusInf needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetMinusInf(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T minf = 0.0;
-  if (bitsPerReal == 32U) {
-    minf = rtGetMinusInfF();
-  } else {
-    uint16_T one = 1U;
-    enum {
-      LittleEndian,
-      BigEndian
-    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-    switch (machByteOrder) {
-     case LittleEndian:
-      {
-        union {
-          LittleEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0xFFF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        minf = tmpVal.fltVal;
-        break;
-      }
-
-     case BigEndian:
-      {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0xFFF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        minf = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return minf;
-}
-
-/* Function: rtGetMinusInfF ==================================================
- * Abstract:
- * Initialize rtMinusInfF needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetMinusInfF(void)
-{
-  IEEESingle minfF;
-  minfF.wordL.wordLuint = 0xFF800000U;
-  return minfF.wordL.wordLreal;
-}
-
-/* End of code generation (rtGetInf.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h
deleted file mode 100755
index e7b2a2d1c..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetInf.h
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * rtGetInf.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTGETINF_H__
-#define __RTGETINF_H__
-
-#include <stddef.h>
-#include "rtwtypes.h"
-#include "rt_nonfinite.h"
-
-extern real_T rtGetInf(void);
-extern real32_T rtGetInfF(void);
-extern real_T rtGetMinusInf(void);
-extern real32_T rtGetMinusInfF(void);
-
-#endif
-/* End of code generation (rtGetInf.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
deleted file mode 100755
index 552770149..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetNaN.c
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- * rtGetNaN.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *       MATLAB for code generation function to initialize non-finite, NaN
- */
-#include "rtGetNaN.h"
-#define NumBitsPerChar	8U
-
-/* Function: rtGetNaN ==================================================
- * Abstract:
- * Initialize rtNaN needed by the generated code.
- * NaN is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetNaN(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T nan = 0.0;
-  if (bitsPerReal == 32U) {
-    nan = rtGetNaNF();
-  } else {
-  uint16_T one = 1U;
-  enum {
-    LittleEndian,
-    BigEndian
-  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-  switch (machByteOrder) {
-   case LittleEndian:
-    {
-      union {
-        LittleEndianIEEEDouble bitVal;
-        real_T fltVal;
-      } tmpVal;
-
-      tmpVal.bitVal.words.wordH = 0xFFF80000U;
-      tmpVal.bitVal.words.wordL = 0x00000000U;
-      nan = tmpVal.fltVal;
-      break;
-    }
-
-   case BigEndian:
-    {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
-        tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
-        nan = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return nan;
-}
-
-/* Function: rtGetNaNF ==================================================
- * Abstract:
- * Initialize rtNaNF needed by the generated code.
- * NaN is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetNaNF(void)
-{
-  IEEESingle nanF = { { 0 } };
-  uint16_T one = 1U;
-  enum {
-    LittleEndian,
-    BigEndian
-  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-  switch (machByteOrder) {
-   case LittleEndian:
-    {
-      nanF.wordL.wordLuint = 0xFFC00000U;
-      break;
-    }
-
-   case BigEndian:
-    {
-      nanF.wordL.wordLuint = 0x7FFFFFFFU;
-      break;
-    }
-  }
-
-  return nanF.wordL.wordLreal;
-}
-
-/* End of code generation (rtGetNaN.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
deleted file mode 100755
index 5acdd9790..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetNaN.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * rtGetNaN.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTGETNAN_H__
-#define __RTGETNAN_H__
-
-#include <stddef.h>
-#include "rtwtypes.h"
-#include "rt_nonfinite.h"
-
-extern real_T rtGetNaN(void);
-extern real32_T rtGetNaNF(void);
-
-#endif
-/* End of code generation (rtGetNaN.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
deleted file mode 100755
index de121c4a0..000000000
--- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * rt_nonfinite.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *      MATLAB for code generation function to initialize non-finites,
- *      (Inf, NaN and -Inf).
- */
-#include "rt_nonfinite.h"
-#include "rtGetNaN.h"
-#include "rtGetInf.h"
-
-real_T rtInf;
-real_T rtMinusInf;
-real_T rtNaN;
-real32_T rtInfF;
-real32_T rtMinusInfF;
-real32_T rtNaNF;
-
-/* Function: rt_InitInfAndNaN ==================================================
- * Abstract:
- * Initialize the rtInf, rtMinusInf, and rtNaN needed by the
- * generated code. NaN is initialized as non-signaling. Assumes IEEE.
- */
-void rt_InitInfAndNaN(size_t realSize)
-{
-  (void) (realSize);
-  rtNaN = rtGetNaN();
-  rtNaNF = rtGetNaNF();
-  rtInf = rtGetInf();
-  rtInfF = rtGetInfF();
-  rtMinusInf = rtGetMinusInf();
-  rtMinusInfF = rtGetMinusInfF();
-}
-
-/* Function: rtIsInf ==================================================
- * Abstract:
- * Test if value is infinite
- */
-boolean_T rtIsInf(real_T value)
-{
-  return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
-}
-
-/* Function: rtIsInfF =================================================
- * Abstract:
- * Test if single-precision value is infinite
- */
-boolean_T rtIsInfF(real32_T value)
-{
-  return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
-}
-
-/* Function: rtIsNaN ==================================================
- * Abstract:
- * Test if value is not a number
- */
-boolean_T rtIsNaN(real_T value)
-{
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-  return _isnan(value)? TRUE:FALSE;
-#else
-  return (value!=value)? 1U:0U;
-#endif
-}
-
-/* Function: rtIsNaNF =================================================
- * Abstract:
- * Test if single-precision value is not a number
- */
-boolean_T rtIsNaNF(real32_T value)
-{
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-  return _isnan((real_T)value)? true:false;
-#else
-  return (value!=value)? 1U:0U;
-#endif
-}
-
-
-/* End of code generation (rt_nonfinite.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
deleted file mode 100755
index 3bbcfd087..000000000
--- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * rt_nonfinite.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RT_NONFINITE_H__
-#define __RT_NONFINITE_H__
-
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-#include <float.h>
-#endif
-#include <stddef.h>
-#include "rtwtypes.h"
-
-extern real_T rtInf;
-extern real_T rtMinusInf;
-extern real_T rtNaN;
-extern real32_T rtInfF;
-extern real32_T rtMinusInfF;
-extern real32_T rtNaNF;
-extern void rt_InitInfAndNaN(size_t realSize);
-extern boolean_T rtIsInf(real_T value);
-extern boolean_T rtIsInfF(real32_T value);
-extern boolean_T rtIsNaN(real_T value);
-extern boolean_T rtIsNaNF(real32_T value);
-
-typedef struct {
-  struct {
-    uint32_T wordH;
-    uint32_T wordL;
-  } words;
-} BigEndianIEEEDouble;
-
-typedef struct {
-  struct {
-    uint32_T wordL;
-    uint32_T wordH;
-  } words;
-} LittleEndianIEEEDouble;
-
-typedef struct {
-  union {
-    real32_T wordLreal;
-    uint32_T wordLuint;
-  } wordL;
-} IEEESingle;
-
-#endif
-/* End of code generation (rt_nonfinite.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h
deleted file mode 100755
index 8916e8572..000000000
--- a/src/modules/position_estimator_mc/codegen/rtwtypes.h
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
- * rtwtypes.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTWTYPES_H__
-#define __RTWTYPES_H__
-#ifndef TRUE
-# define TRUE (1U)
-#endif
-#ifndef FALSE
-# define FALSE (0U)
-#endif
-#ifndef __TMWTYPES__
-#define __TMWTYPES__
-
-#include <limits.h>
-
-/*=======================================================================* 
- * Target hardware information
- *   Device type: Generic->MATLAB Host Computer
- *   Number of bits:     char:   8    short:   16    int:  32
- *                       long:  32      native word size:  32
- *   Byte ordering: LittleEndian
- *   Signed integer division rounds to: Undefined
- *   Shift right on a signed integer as arithmetic shift: off
- *=======================================================================*/
-
-/*=======================================================================* 
- * Fixed width word size data types:                                     * 
- *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
- *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
- *   real32_T, real64_T           - 32 and 64 bit floating point numbers * 
- *=======================================================================*/
-
-typedef signed char int8_T;
-typedef unsigned char uint8_T;
-typedef short int16_T;
-typedef unsigned short uint16_T;
-typedef int int32_T;
-typedef unsigned int uint32_T;
-typedef float real32_T;
-typedef double real64_T;
-
-/*===========================================================================* 
- * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T,       * 
- *                           ulong_T, char_T and byte_T.                     * 
- *===========================================================================*/
-
-typedef double real_T;
-typedef double time_T;
-typedef unsigned char boolean_T;
-typedef int int_T;
-typedef unsigned int uint_T;
-typedef unsigned long ulong_T;
-typedef char char_T;
-typedef char_T byte_T;
-
-/*===========================================================================* 
- * Complex number type definitions                                           * 
- *===========================================================================*/
-#define CREAL_T	
-   typedef struct {  
-     real32_T re;  
-     real32_T im;  
-   } creal32_T;  
-
-   typedef struct {  
-     real64_T re;  
-     real64_T im;  
-   } creal64_T;  
-
-   typedef struct {  
-     real_T re;  
-     real_T im;  
-   } creal_T;  
-
-   typedef struct {  
-     int8_T re;  
-     int8_T im;  
-   } cint8_T;  
-
-   typedef struct {  
-     uint8_T re;  
-     uint8_T im;  
-   } cuint8_T;  
-
-   typedef struct {  
-     int16_T re;  
-     int16_T im;  
-   } cint16_T;  
-
-   typedef struct {  
-     uint16_T re;  
-     uint16_T im;  
-   } cuint16_T;  
-
-   typedef struct {  
-     int32_T re;  
-     int32_T im;  
-   } cint32_T;  
-
-   typedef struct {  
-     uint32_T re;  
-     uint32_T im;  
-   } cuint32_T;  
-
-
-/*=======================================================================* 
- * Min and Max:                                                          * 
- *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
- *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
- *=======================================================================*/
-
-#define MAX_int8_T  	((int8_T)(127))
-#define MIN_int8_T  	((int8_T)(-128))
-#define MAX_uint8_T 	((uint8_T)(255))
-#define MIN_uint8_T 	((uint8_T)(0))
-#define MAX_int16_T 	((int16_T)(32767))
-#define MIN_int16_T 	((int16_T)(-32768))
-#define MAX_uint16_T	((uint16_T)(65535))
-#define MIN_uint16_T	((uint16_T)(0))
-#define MAX_int32_T 	((int32_T)(2147483647))
-#define MIN_int32_T 	((int32_T)(-2147483647-1))
-#define MAX_uint32_T	((uint32_T)(0xFFFFFFFFU))
-#define MIN_uint32_T	((uint32_T)(0))
-
-/* Logical type definitions */
-#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
-#  ifndef false
-#   define false (0U)
-#  endif
-#  ifndef true
-#   define true (1U)
-#  endif
-#endif
-
-/*
- * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
- * for signed integer values.
- */
-#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
-#error "This code must be compiled using a 2's complement representation for signed integer values"
-#endif
-
-/*
- * Maximum length of a MATLAB identifier (function/variable)
- * including the null-termination character. Referenced by
- * rt_logging.c and rt_matrx.c.
- */
-#define TMW_NAME_LENGTH_MAX	64
-
-#endif
-#endif
-/* End of code generation (rtwtypes.h) */
diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m
deleted file mode 100755
index ff939d029..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe1.m
+++ /dev/null
@@ -1,3 +0,0 @@
-function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z)
-    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m
deleted file mode 100755
index 2a50164ef..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe2.m
+++ /dev/null
@@ -1,9 +0,0 @@
-function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z)
-    st = 1/2*dt^2;
-    A = [1,dt,st;
-        0,1,dt;
-        0,0,1];
-    C=[1,0,0];
-    K = [k1;k2;k3];
-    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m
deleted file mode 100755
index 4c6421b7f..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe3.m
+++ /dev/null
@@ -1,17 +0,0 @@
-function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma)

-    st = 1/2*dt^2;

-    A = [1,dt,st;

-        0,1,dt;

-        0,0,1];

-    C=[1,0,0];

-    K = [k1;k2;k3];

-    if addNoise==1

-        noise = sigma*randn(1,1);

-        z = z + noise;

-    end

-    if(posUpdate)

-        x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);

-    else

-        x_aposteriori=A*x_aposteriori_k;

-    end

-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk
deleted file mode 100644
index 40b135ea4..000000000
--- a/src/modules/position_estimator_mc/module.mk
+++ /dev/null
@@ -1,60 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build the position estimator
-#
-
-MODULE_COMMAND	 = position_estimator_mc
-
-SRCS		 = position_estimator_mc_main.c \
-			   position_estimator_mc_params.c \
-			   codegen/positionKalmanFilter1D_initialize.c \
-			   codegen/positionKalmanFilter1D_terminate.c \
-			   codegen/positionKalmanFilter1D.c \
-			   codegen/rt_nonfinite.c \
-			   codegen/rtGetInf.c \
-			   codegen/rtGetNaN.c \
-			   codegen/positionKalmanFilter1D_dT_initialize.c \
-			   codegen/positionKalmanFilter1D_dT_terminate.c \
-			   codegen/kalman_dlqe1.c \
-			   codegen/kalman_dlqe1_initialize.c \
-			   codegen/kalman_dlqe1_terminate.c \
-			   codegen/kalman_dlqe2.c \
-			   codegen/kalman_dlqe2_initialize.c \
-			   codegen/kalman_dlqe2_terminate.c \
-			   codegen/kalman_dlqe3.c \
-			   codegen/kalman_dlqe3_initialize.c \
-			   codegen/kalman_dlqe3_terminate.c \
-			   codegen/kalman_dlqe3_data.c \
-			   codegen/randn.c
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
deleted file mode 100755
index 144ff8c7c..000000000
--- a/src/modules/position_estimator_mc/positionKalmanFilter1D.m
+++ /dev/null
@@ -1,19 +0,0 @@
-function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
-%prediction
-    x_apriori=A*x_aposteriori_k+B*u;
-    P_apriori=A*P_aposteriori_k*A'+Q;
-    if abs(u)<thresh
-        x_apriori(2)=decay*x_apriori(2);
-    end
-    %update
-    if gps_update==1
-        y=z-C*x_apriori;
-        S=C*P_apriori*C'+R;
-        K=(P_apriori*C')/S;
-        x_aposteriori=x_apriori+K*y;
-        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
-    else
-        x_aposteriori=x_apriori;
-        P_aposteriori=P_apriori;
-    end
-end
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
deleted file mode 100755
index f94cce1fb..000000000
--- a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
+++ /dev/null
@@ -1,26 +0,0 @@
-function  [x_aposteriori,P_aposteriori]=positionKalmanFilter1D_dT(dT,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
-    %dynamics
-    A = [1 dT -0.5*dT*dT;
-         0 1 -dT;
-         0 0 1];
-    B = [0.5*dT*dT; dT; 0];
-    C = [1 0 0];
-    %prediction
-    x_apriori=A*x_aposteriori_k+B*u;
-    P_apriori=A*P_aposteriori_k*A'+Q;
-    if abs(u)<thresh
-        x_apriori(2)=decay*x_apriori(2);
-    end
-    %update
-    if gps_update==1
-        y=z-C*x_apriori;
-        S=C*P_apriori*C'+R;
-        K=(P_apriori*C')/S;
-        x_aposteriori=x_apriori+K*y;
-        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
-    else
-        x_aposteriori=x_apriori;
-        P_aposteriori=P_apriori;
-    end
-end
-
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c
deleted file mode 100755
index 363961819..000000000
--- a/src/modules/position_estimator_mc/position_estimator_mc_main.c
+++ /dev/null
@@ -1,515 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger	<daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
-* 				Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file position_estimator_main.c
- * Model-identification based position estimator for multirotors
- */
-
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <float.h>
-#include <string.h>
-#include <nuttx/config.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <limits.h>
-#include <math.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls_effective.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <mavlink/mavlink_log.h>
-#include <poll.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/err.h>
-#include <systemlib/systemlib.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "position_estimator_mc_params.h"
-//#include <uORB/topics/debug_key_value.h>
-#include "codegen/kalman_dlqe2.h"
-#include "codegen/kalman_dlqe2_initialize.h"
-#include "codegen/kalman_dlqe3.h"
-#include "codegen/kalman_dlqe3_initialize.h"
-
-static bool thread_should_exit = false;	/**< Deamon exit flag */
-static bool thread_running = false;	/**< Deamon status flag */
-static int position_estimator_mc_task;	/**< Handle of deamon task / thread */
-
-__EXPORT int position_estimator_mc_main(int argc, char *argv[]);
-
-int position_estimator_mc_thread_main(int argc, char *argv[]);
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		warnx("%s\n", reason);
-	warnx("usage: position_estimator_mc {start|stop|status}");
-	exit(1);
-}
-
-/**
- * The position_estimator_mc_thread only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int position_estimator_mc_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("position_estimator_mc already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		position_estimator_mc_task = task_spawn_cmd("position_estimator_mc",
-					 SCHED_RR,
-					 SCHED_PRIORITY_MAX - 5,
-					 4096,
-					 position_estimator_mc_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("position_estimator_mc is running");
-		} else {
-			warnx("position_estimator_mc not started");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-/****************************************************************************
- * main
- ****************************************************************************/
-int position_estimator_mc_thread_main(int argc, char *argv[])
-{
-	/* welcome user */
-	warnx("[position_estimator_mc] started");
-	int mavlink_fd;
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	mavlink_log_info(mavlink_fd, "[position_estimator_mc] started");
-
-	/* initialize values */
-	float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */
-	// float rotMatrix[4] = {1.0f,  0.0f, 0.0f,  1.0f};
-	float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f};
-	float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f};
-	float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f};
-
-	// XXX this is terribly wrong and should actual dT instead
-	const float dT_const_50 = 1.0f/50.0f;
-
-	float addNoise = 0.0f;
-	float sigma = 0.0f;
-	//computed from dlqe in matlab
-	const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f};
-	// XXX implement baro filter
-	const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f};
-	float K[3] = {0.0f, 0.0f, 0.0f};
-	int baro_loop_cnt = 0;
-	int baro_loop_end = 70; /* measurement for 1 second */
-	float p0_Pa = 0.0f; /* to determin while start up */
-	float rho0 = 1.293f; /* standard pressure */
-	const float const_earth_gravity = 9.81f;
-
-	float posX = 0.0f;
-	float posY = 0.0f;
-	float posZ = 0.0f;
-
-	double lat_current;
-	double lon_current;
-	float alt_current;
-
-	float gps_origin_altitude = 0.0f;
-
-	/* Initialize filter */
-	kalman_dlqe2_initialize();
-	kalman_dlqe3_initialize();
-
-	/* declare and safely initialize all structs */
-	struct sensor_combined_s sensor;
-	memset(&sensor, 0, sizeof(sensor));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_status_s vehicle_status;
-	memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */
-	struct vehicle_vicon_position_s vicon_pos;
-	memset(&vicon_pos, 0, sizeof(vicon_pos));
-	struct actuator_controls_effective_s act_eff;
-	memset(&act_eff, 0, sizeof(act_eff));
-	struct vehicle_gps_position_s gps;
-	memset(&gps, 0, sizeof(gps));
-	struct vehicle_local_position_s local_pos_est;
-	memset(&local_pos_est, 0, sizeof(local_pos_est));
-	struct vehicle_global_position_s global_pos_est;
-	memset(&global_pos_est, 0, sizeof(global_pos_est));
-
-	/* subscribe */
-	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	int sub_params = orb_subscribe(ORB_ID(parameter_update));
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0));
-	int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* advertise */
-	orb_advert_t local_pos_est_pub = 0;
-	orb_advert_t global_pos_est_pub = 0;
-
-	struct position_estimator_mc_params pos1D_params;
-	struct position_estimator_mc_param_handles pos1D_param_handles;
-	/* initialize parameter handles */
-	parameters_init(&pos1D_param_handles);
-
-	bool flag_use_gps = false;
-	bool flag_use_baro = false;
-	bool flag_baro_initialized = false; /* in any case disable baroINITdone */
-	/* FIRST PARAMETER READ at START UP*/
-	struct parameter_update_s update;
-	orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */
-	/* FIRST PARAMETER UPDATE */
-	parameters_update(&pos1D_param_handles, &pos1D_params);
-	flag_use_baro = pos1D_params.baro;
-	sigma = pos1D_params.sigma;
-	addNoise = pos1D_params.addNoise;
-	/* END FIRST PARAMETER UPDATE */
-
-	/* try to grab a vicon message - if it fails, go for GPS. */
-
-	/* make sure the next orb_check() can't return true unless we get a timely update */
-	orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
-	/* allow 200 ms for vicon to come in */
-	usleep(200000);
-	/* check if we got vicon */
-	bool update_check;
-	orb_check(vicon_pos_sub, &update_check);
-	/* if no update was available, use GPS */
-	flag_use_gps = !update_check;
-
-	if (flag_use_gps) {
-		mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked");
-		/* wait until gps signal turns valid, only then can we initialize the projection */
-
-		// XXX magic number
-		float hdop_threshold_m = 4.0f;
-		float vdop_threshold_m = 8.0f;
-
-		/*
-		 * If horizontal dilution of precision (hdop / eph)
-		 * and vertical diluation of precision (vdop / epv)
-		 * are below a certain threshold (e.g. 4 m), AND
-		 * home position is not yet set AND the last GPS
-		 * GPS measurement is not older than two seconds AND
-		 * the system is currently not armed, set home
-		 * position to the current position.
-		 */
-
-		while (!(gps.fix_type == 3
-			&& (gps.eph_m < hdop_threshold_m)
-			&& (gps.epv_m < vdop_threshold_m)
-			&& (hrt_absolute_time() - gps.timestamp_position < 2000000))) {
-
-			struct pollfd fds1[2] = {
-					{ .fd = vehicle_gps_sub, .events = POLLIN },
-					{ .fd = sub_params,   .events = POLLIN },
-			};
-
-			/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
-			 * this choice is critical, since the vehicle status might not
-			 * actually change, if this app is started after GPS lock was
-			 * aquired.
-			 */
-			if (poll(fds1, 2, 5000)) {
-				if (fds1[0].revents & POLLIN){
-					/* Read gps position */
-					orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-				}
-				if (fds1[1].revents & POLLIN){
-					/* Read out parameters to check for an update there, e.g. useGPS variable */
-					/* read from param to clear updated flag */
-					struct parameter_update_s updated;
-					orb_copy(ORB_ID(parameter_update), sub_params, &updated);
-					/* update parameters */
-					parameters_update(&pos1D_param_handles, &pos1D_params);
-				}
-			}
-			static int printcounter = 0;
-			if (printcounter == 100) {
-				printcounter = 0;
-				warnx("[pos_est_mc] wait for GPS fix");
-			}
-			printcounter++;
-		}
-
-		/* get gps value for first initialization */
-		orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-		lat_current = ((double)(gps.lat)) * 1e-7d;
-		lon_current = ((double)(gps.lon)) * 1e-7d;
-		alt_current = gps.alt * 1e-3f;
-		gps_origin_altitude = alt_current;
-		/* initialize coordinates */
-		map_projection_init(lat_current, lon_current);
-		/* publish global position messages only after first GPS message */
-		printf("[pos_est_mc] initialized projection with: lat: %.10f,  lon:%.10f\n", lat_current, lon_current);
-
-	} else {
-		mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON");
-		/* onboard calculated position estimations */
-	}
-	thread_running = true;
-
-	struct pollfd fds2[3] = {
-		{ .fd = vehicle_gps_sub,   .events = POLLIN },
-		{ .fd = vicon_pos_sub,   .events = POLLIN },
-		{ .fd = sub_params,   .events = POLLIN },
-	};
-
-	bool vicon_updated = false;
-	bool gps_updated = false;
-
-	/**< main_loop */
-	while (!thread_should_exit) {
-		int ret = poll(fds2, 3, 20);  //wait maximal this 20 ms = 50 Hz minimum rate
-		if (ret < 0) {
-			/* poll error */
-		} else {
-			if (fds2[2].revents & POLLIN){
-				/* new parameter */
-				/* read from param to clear updated flag */
-				struct parameter_update_s updated;
-				orb_copy(ORB_ID(parameter_update), sub_params, &updated);
-				/* update parameters */
-				parameters_update(&pos1D_param_handles, &pos1D_params);
-				flag_use_baro = pos1D_params.baro;
-				sigma = pos1D_params.sigma;
-				addNoise = pos1D_params.addNoise;
-			}
-			vicon_updated = false; /* default is no vicon_updated */
-			if (fds2[1].revents & POLLIN) {
-				/* new vicon position */
-				orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
-				posX = vicon_pos.x;
-				posY = vicon_pos.y;
-				posZ = vicon_pos.z;
-				vicon_updated = true; /* set flag for vicon update */
-			} /* end of poll call for vicon updates */
-			gps_updated = false;
-			if (fds2[0].revents & POLLIN) {
-				/* new GPS value */
-				orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-				/* Project gps lat lon (Geographic coordinate system) to plane*/
-				map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1]));
-				posX = z[0];
-				posY = z[1];
-				posZ = (float)(gps.alt * 1e-3f);
-				gps_updated = true;
-			}
-
-			/* Main estimator loop */
-			orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff);
-			orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
-			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor);
-			// barometric pressure estimation at start up
-			if (!flag_baro_initialized){
-				// mean calculation over several measurements
-				if (baro_loop_cnt<baro_loop_end) {
-					p0_Pa += (sensor.baro_pres_mbar*100);
-					baro_loop_cnt++;
-				} else {
-					p0_Pa /= (float)(baro_loop_cnt);
-					flag_baro_initialized = true;
-					char *baro_m_start = "barometer initialized with p0 = ";
-					char p0_char[15];
-					sprintf(p0_char, "%8.2f", (double)(p0_Pa/100));
-					char *baro_m_end = " mbar";
-					char str[80];
-					strcpy(str,baro_m_start);
-					strcat(str,p0_char);
-					strcat(str,baro_m_end);
-					mavlink_log_info(mavlink_fd, str);
-				}
-			}
-			if (flag_use_gps) {
-				/* initialize map projection with the last estimate (not at full rate) */
-				if (gps.fix_type > 2) {
-					/* x-y-position/velocity estimation in earth frame = gps frame */
-					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori);
-					memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
-					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori);
-					memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
-					/* z-position/velocity estimation in earth frame = vicon frame */
-					float z_est = 0.0f;
-					if (flag_baro_initialized && flag_use_baro) {
-						z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity);
-						K[0] = K_vicon_50Hz[0];
-						K[1] = K_vicon_50Hz[1];
-						K[2] = K_vicon_50Hz[2];
-						gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */
-					} else {
-						z_est = posZ;
-						K[0] = K_vicon_50Hz[0];
-						K[1] = K_vicon_50Hz[1];
-						K[2] = K_vicon_50Hz[2];
-					}
-
-					kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori);
-					memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
-					local_pos_est.x = x_x_aposteriori_k[0];
-					local_pos_est.vx = x_x_aposteriori_k[1];
-					local_pos_est.y = x_y_aposteriori_k[0];
-					local_pos_est.vy = x_y_aposteriori_k[1];
-					local_pos_est.z = x_z_aposteriori_k[0];
-					local_pos_est.vz = x_z_aposteriori_k[1];
-					local_pos_est.timestamp = hrt_absolute_time();
-					if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) {
-						/* publish local position estimate */
-						if (local_pos_est_pub > 0) {
-							orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
-						} else {
-							local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
-						}
-						/* publish on GPS updates */
-						if (gps_updated) {
-
-							double lat, lon;
-							float alt = z_est + gps_origin_altitude;
-
-							map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon);
-
-							global_pos_est.lat = lat;
-							global_pos_est.lon = lon;
-							global_pos_est.alt = alt;
-
-							if (global_pos_est_pub > 0) {
-								orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est);
-							} else {
-								global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est);
-							}
-						}
-					}
-				}
-			} else {
-				/* x-y-position/velocity estimation in earth frame = vicon frame */
-				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori);
-				memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
-				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori);
-				memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
-				/* z-position/velocity estimation in earth frame = vicon frame */
-				float z_est = 0.0f;
-				float local_sigma = 0.0f;
-				if (flag_baro_initialized && flag_use_baro) {
-					z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity);
-					K[0] = K_vicon_50Hz[0];
-					K[1] = K_vicon_50Hz[1];
-					K[2] = K_vicon_50Hz[2];
-					vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */
-					local_sigma = 0.0f; /* don't add noise on barometer in any case */
-				} else {
-					z_est = posZ;
-					K[0] = K_vicon_50Hz[0];
-					K[1] = K_vicon_50Hz[1];
-					K[2] = K_vicon_50Hz[2];
-					local_sigma = sigma;
-				}
-				kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori);
-				memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
-				local_pos_est.x = x_x_aposteriori_k[0];
-				local_pos_est.vx = x_x_aposteriori_k[1];
-				local_pos_est.y = x_y_aposteriori_k[0];
-				local_pos_est.vy = x_y_aposteriori_k[1];
-				local_pos_est.z = x_z_aposteriori_k[0];
-				local_pos_est.vz = x_z_aposteriori_k[1];
-				local_pos_est.timestamp = hrt_absolute_time();
-				if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){
-					if(local_pos_est_pub > 0)
-						orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
-					else
-						local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
-					//char buf[0xff]; sprintf(buf,"[pos_est_mc] x:%f, y:%f, z:%f",x_x_aposteriori_k[0],x_y_aposteriori_k[0],x_z_aposteriori_k[0]);
-					//mavlink_log_info(mavlink_fd, buf);
-				}
-			}
-		} /* end of poll return value check */
-	}
-
-	printf("[pos_est_mc] exiting.\n");
-	mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting");
-	thread_running = false;
-	return 0;
-}
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c
deleted file mode 100755
index 72e5bc73b..000000000
--- a/src/modules/position_estimator_mc/position_estimator_mc_params.c
+++ /dev/null
@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
-* 				Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * @file position_estimator_mc_params.c
- * 
- * Parameters for position_estimator_mc
- */
-
-#include "position_estimator_mc_params.h"
-
-/* Kalman Filter covariances */
-/* gps measurement noise standard deviation */
-PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f);
-PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f);
-PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f);
-PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f);
-
-int parameters_init(struct position_estimator_mc_param_handles *h)
-{
-	h->addNoise	= param_find("POS_EST_ADDN");
-	h->sigma = param_find("POS_EST_SIGMA");
-	h->r = param_find("POS_EST_R");
-	h->baro_param_handle = param_find("POS_EST_BARO");
-	return OK;
-}
-
-int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p)
-{
-	param_get(h->addNoise, &(p->addNoise));
-	param_get(h->sigma, &(p->sigma));
-	param_get(h->r, &(p->R));
-	param_get(h->baro_param_handle, &(p->baro));
-	return OK;
-}
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h
deleted file mode 100755
index c4c95f7b4..000000000
--- a/src/modules/position_estimator_mc/position_estimator_mc_params.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
- *				Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * @file position_estimator_mc_params.h
- * 
- * Parameters for Position Estimator
- */
-
-#include <systemlib/param/param.h>
-
-struct position_estimator_mc_params {
-	float addNoise;
-	float sigma;
-	float R;
-	int baro; /* consider barometer */
-};
-
-struct position_estimator_mc_param_handles {
-	param_t addNoise;
-	param_t sigma;
-	param_t r;
-	param_t baro_param_handle;
-};
-
-/**
- * Initialize all parameter handles and values
- *
- */
-int parameters_init(struct position_estimator_mc_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p);
diff --git a/src/modules/sdlog/module.mk b/src/modules/sdlog/module.mk
deleted file mode 100644
index 89da2d827..000000000
--- a/src/modules/sdlog/module.mk
+++ /dev/null
@@ -1,43 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# sdlog Application
-#
-
-MODULE_COMMAND	 = sdlog
-# The main thread only buffers to RAM, needs a high priority
-MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
-
-SRCS		 = sdlog.c \
-		   sdlog_ringbuffer.c
diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c
deleted file mode 100644
index c22523bf2..000000000
--- a/src/modules/sdlog/sdlog.c
+++ /dev/null
@@ -1,840 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sdlog.c
- * @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Simple SD logger for flight data. Buffers new sensor values and
- * does the heavy SD I/O in a low-priority worker thread.
- */
-
-#include <nuttx/config.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <sys/prctl.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <poll.h>
-#include <stdlib.h>
-#include <string.h>
-#include <ctype.h>
-#include <systemlib/err.h>
-#include <unistd.h>
-#include <drivers/drv_hrt.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/optical_flow.h>
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/differential_pressure.h>
-#include <uORB/topics/airspeed.h>
-
-#include <systemlib/systemlib.h>
-
-#include <mavlink/mavlink_log.h>
-
-#include "sdlog_ringbuffer.h"
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log folders */
-
-static const char *mountpoint = "/fs/microsd";
-static const char *mfile_in = "/etc/logging/logconv.m";
-int sysvector_file = -1;
-int mavlink_fd = -1;
-struct sdlog_logbuffer lb;
-
-/* mutex / condition to synchronize threads */
-pthread_mutex_t sysvector_mutex;
-pthread_cond_t sysvector_cond;
-
-/**
- * System state vector log buffer writing
- */
-static void *sdlog_sysvector_write_thread(void *arg);
-
-/**
- * Create the thread to write the system vector
- */
-pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf);
-
-/**
- * SD log management function.
- */
-__EXPORT int sdlog_main(int argc, char *argv[]);
-
-/**
- * Mainloop of sd log deamon.
- */
-int sdlog_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static int file_exist(const char *filename);
-
-static int file_copy(const char *file_old, const char *file_new);
-
-static void handle_command(struct vehicle_command_s *cmd);
-
-/**
- * Print the current status.
- */
-static void print_sdlog_status(void);
-
-/**
- * Create folder for current logging session.
- */
-static int create_logfolder(char *folder_path);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
-}
-
-// XXX turn this into a C++ class
-unsigned sensor_combined_bytes = 0;
-unsigned actuator_outputs_bytes = 0;
-unsigned actuator_controls_bytes = 0;
-unsigned sysvector_bytes = 0;
-unsigned blackbox_file_bytes = 0;
-uint64_t starttime = 0;
-
-/* logging on or off, default to true */
-bool logging_enabled = true;
-
-/**
- * The sd log deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_spawn_cmd().
- */
-int sdlog_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("sdlog already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("sdlog",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_DEFAULT - 30,
-					 4096,
-					 sdlog_thread_main,
-					 (const char **)argv);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (!thread_running) {
-			printf("\tsdlog is not started\n");
-		}
-
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			print_sdlog_status();
-
-		} else {
-			printf("\tsdlog not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int create_logfolder(char *folder_path)
-{
-	/* make folder on sdcard */
-	uint16_t foldernumber = 1; // start with folder 0001
-	int mkdir_ret;
-
-	/* look for the next folder that does not exist */
-	while (foldernumber < MAX_NO_LOGFOLDER) {
-		/* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
-		sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
-		mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
-		/* the result is -1 if the folder exists */
-
-		if (mkdir_ret == 0) {
-			/* folder does not exist, success */
-
-			/* now copy the Matlab/Octave file */
-			char mfile_out[100];
-			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
-			int ret = file_copy(mfile_in, mfile_out);
-
-			if (!ret) {
-				warnx("copied m file to %s", mfile_out);
-
-			} else {
-				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
-			}
-
-			break;
-
-		} else if (mkdir_ret == -1) {
-			/* folder exists already */
-			foldernumber++;
-			continue;
-
-		} else {
-			warn("failed creating new folder");
-			return -1;
-		}
-	}
-
-	if (foldernumber >= MAX_NO_LOGFOLDER) {
-		/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
-		warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
-		return -1;
-	}
-
-	return 0;
-}
-
-
-static void *
-sdlog_sysvector_write_thread(void *arg)
-{
-	/* set name */
-	prctl(PR_SET_NAME, "sdlog microSD I/O", 0);
-
-	struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg;
-
-	int poll_count = 0;
-	struct sdlog_sysvector sysvect;
-	memset(&sysvect, 0, sizeof(sysvect));
-
-	while (!thread_should_exit) {
-		
-		/* make sure threads are synchronized */
-		pthread_mutex_lock(&sysvector_mutex);
-
-		/* only wait if no data is available to process */
-		if (sdlog_logbuffer_is_empty(logbuf)) {
-			/* blocking wait for new data at this line */
-			pthread_cond_wait(&sysvector_cond, &sysvector_mutex);
-		}
-
-		/* only quickly load data, do heavy I/O a few lines down */
-		int ret = sdlog_logbuffer_read(logbuf, &sysvect);
-		/* continue */
-		pthread_mutex_unlock(&sysvector_mutex);
-
-		if (ret == OK) {
-			sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect));
-		}
-
-		if (poll_count % 100 == 0) {
-			fsync(sysvector_file);
-		}
-
-		poll_count++;
-	}
-
-	fsync(sysvector_file);
-
-	return OK;
-}
-
-pthread_t
-sysvector_write_start(struct sdlog_logbuffer *logbuf)
-{
-	pthread_attr_t receiveloop_attr;
-	pthread_attr_init(&receiveloop_attr);
-
-	struct sched_param param;
-	/* low priority, as this is expensive disk I/O */
-	param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
-	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
-
-	pthread_attr_setstacksize(&receiveloop_attr, 2048);
-
-	pthread_t thread;
-	pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf);
-	return thread;
-
-	// XXX we have to destroy the attr at some point
-}
-
-
-int sdlog_thread_main(int argc, char *argv[])
-{
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	if (mavlink_fd < 0) {
-		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
-	}
-
-	/* log every n'th value (skip three per default) */
-	int skip_value = 3;
-
-	/* work around some stupidity in task_create's argv handling */
-	argc -= 2;
-	argv += 2;
-	int ch;
-
-	while ((ch = getopt(argc, argv, "s:r")) != EOF) {
-		switch (ch) {
-		case 's':
-			{
-			/* log only every n'th (gyro clocked) value */
-			unsigned s = strtoul(optarg, NULL, 10);
-
-			if (s < 1 || s > 250) {
-				errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
-			} else {
-				skip_value = s;
-			}
-			}
-			break;
-
-		case 'r':
-			/* log only on request, disable logging per default */
-			logging_enabled = false;
-			break;
-
-		case '?':
-			if (optopt == 'c') {
-				warnx("Option -%c requires an argument.\n", optopt);
-			} else if (isprint(optopt)) {
-				warnx("Unknown option `-%c'.\n", optopt);
-			} else {
-				warnx("Unknown option character `\\x%x'.\n", optopt);
-			}
-
-		default:
-			usage("unrecognized flag");
-			errx(1, "exiting.");
-		}
-	}
-
-	if (file_exist(mountpoint) != OK) {
-		errx(1, "logging mount point %s not present, exiting.", mountpoint);
-	}
-
-	char folder_path[64];
-
-	if (create_logfolder(folder_path))
-		errx(1, "unable to create logging folder, exiting.");
-
-	FILE *gpsfile;
-	FILE *blackbox_file;
-
-	/* string to hold the path to the sensorfile */
-	char path_buf[64] = "";
-
-	/* only print logging path, important to find log file later */
-	warnx("logging to directory %s\n", folder_path);
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
-	sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
-
-	if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
-	sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
-
-	if (NULL == (gpsfile = fopen(path_buf, "w"))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	int gpsfile_no = fileno(gpsfile);
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
-	sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
-
-	if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	// XXX for fsync() calls
-	int blackbox_file_no = fileno(blackbox_file);
-
-	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
-	/* number of messages */
-	const ssize_t fdsc = 25;
-	/* Sanity check variable and index */
-	ssize_t fdsc_count = 0;
-	/* file descriptors to wait for */
-	struct pollfd fds[fdsc];
-
-
-	struct {
-		struct sensor_combined_s raw;
-		struct vehicle_attitude_s att;
-		struct vehicle_attitude_setpoint_s att_sp;
-		struct actuator_outputs_s act_outputs;
-		struct actuator_controls_s act_controls;
-		struct actuator_controls_effective_s act_controls_effective;
-		struct vehicle_command_s cmd;
-		struct vehicle_local_position_s local_pos;
-		struct vehicle_global_position_s global_pos;
-		struct vehicle_gps_position_s gps_pos;
-		struct vehicle_vicon_position_s vicon_pos;
-		struct optical_flow_s flow;
-		struct battery_status_s batt;
-		struct differential_pressure_s diff_pres;
-		struct airspeed_s airspeed;
-	} buf;
-	memset(&buf, 0, sizeof(buf));
-
-	struct {
-		int cmd_sub;
-		int sensor_sub;
-		int att_sub;
-		int spa_sub;
-		int act_0_sub;
-		int controls_0_sub;
-		int controls_effective_0_sub;
-		int local_pos_sub;
-		int global_pos_sub;
-		int gps_pos_sub;
-		int vicon_pos_sub;
-		int flow_sub;
-		int batt_sub;
-		int diff_pres_sub;
-		int airspeed_sub;
-	} subs;
-
-	/* --- MANAGEMENT - LOGGING COMMAND --- */
-	/* subscribe to ORB for vehicle command */
-	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	fds[fdsc_count].fd = subs.cmd_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GPS POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	fds[fdsc_count].fd = subs.gps_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- SENSORS RAW VALUE --- */
-	/* subscribe to ORB for sensors raw */
-	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	fds[fdsc_count].fd = subs.sensor_sub;
-	/* do not rate limit, instead use skip counter (aliasing on rate limit) */
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE VALUE --- */
-	/* subscribe to ORB for attitude */
-	subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	fds[fdsc_count].fd = subs.att_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE SETPOINT VALUE --- */
-	/* subscribe to ORB for attitude setpoint */
-	/* struct already allocated */
-	subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	fds[fdsc_count].fd = subs.spa_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/** --- ACTUATOR OUTPUTS --- */
-	subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
-	fds[fdsc_count].fd = subs.act_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL VALUE --- */
-	/* subscribe to ORB for actuator control */
-	subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-	fds[fdsc_count].fd = subs.controls_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
-	/* subscribe to ORB for actuator control */
-	subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
-	fds[fdsc_count].fd = subs.controls_effective_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- LOCAL POSITION --- */
-	/* subscribe to ORB for local position */
-	subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	fds[fdsc_count].fd = subs.local_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	fds[fdsc_count].fd = subs.global_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- VICON POSITION --- */
-	/* subscribe to ORB for vicon position */
-	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	fds[fdsc_count].fd = subs.vicon_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- FLOW measurements --- */
-	/* subscribe to ORB for flow measurements */
-	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
-	fds[fdsc_count].fd = subs.flow_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- BATTERY STATUS --- */
-	/* subscribe to ORB for flow measurements */
-	subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
-	fds[fdsc_count].fd = subs.batt_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- DIFFERENTIAL PRESSURE --- */
-	/* subscribe to ORB for flow measurements */
-	subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
-	fds[fdsc_count].fd = subs.diff_pres_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- AIRSPEED --- */
-	/* subscribe to ORB for airspeed */
-	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
-	fds[fdsc_count].fd = subs.airspeed_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;	
-
-	/* WARNING: If you get the error message below,
-	 * then the number of registered messages (fdsc)
-	 * differs from the number of messages in the above list.
-	 */
-	if (fdsc_count > fdsc) {
-		warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
-		fdsc_count = fdsc;
-	}
-
-	/*
-	 * set up poll to block for new data,
-	 * wait for a maximum of 1000 ms (1 second)
-	 */
-	// const int timeout = 1000;
-
-	thread_running = true;
-
-	/* initialize log buffer with a size of 10 */
-	sdlog_logbuffer_init(&lb, 10);
-
-	/* initialize thread synchronization */
-	pthread_mutex_init(&sysvector_mutex, NULL);
-  	pthread_cond_init(&sysvector_cond, NULL);
-
-	/* start logbuffer emptying thread */
-	pthread_t sysvector_pthread = sysvector_write_start(&lb);
-
-	starttime = hrt_absolute_time();
-
-	/* track skipping */
-	int skip_count = 0;
-
-	while (!thread_should_exit) {
-
-		/* only poll for commands, gps and sensor_combined */
-		int poll_ret = poll(fds, 3, 1000);
-
-		/* handle the poll result */
-		if (poll_ret == 0) {
-			/* XXX this means none of our providers is giving us data - might be an error? */
-		} else if (poll_ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
-		} else {
-
-			int ifds = 0;
-
-			/* --- VEHICLE COMMAND VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy command into local buffer */
-				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
-
-				/* always log to blackbox, even when logging disabled */
-				blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
-					buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
-					(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
-
-				handle_command(&buf.cmd);
-			}
-
-			/* --- VEHICLE GPS VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy gps position into local buffer */
-				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-
-				/* if logging disabled, continue */
-				if (logging_enabled) {
-
-				/* write KML line */
-				}
-			}
-
-			/* --- SENSORS RAW VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-
-				// /* copy sensors raw data into local buffer */
-				// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-				// /* write out */
-				// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
-
-				/* always copy sensors raw data into local buffer, since poll flags won't clear else */
-				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
-				orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
-				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
-				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
-				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
-				orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres);
-				orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
-				orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
-
-				/* if skipping is on or logging is disabled, ignore */
-				if (skip_count < skip_value || !logging_enabled) {
-					skip_count++;
-					/* do not log data */
-					continue;
-				} else {
-					/* log data, reset */
-					skip_count = 0;
-				}
-
-				struct sdlog_sysvector sysvect = {
-					.timestamp = buf.raw.timestamp,
-					.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
-					.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
-					.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
-					.baro = buf.raw.baro_pres_mbar,
-					.baro_alt = buf.raw.baro_alt_meter,
-					.baro_temp = buf.raw.baro_temp_celcius,
-					.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
-					.actuators = {
-						buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
-						buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
-					},
-					.vbat = buf.batt.voltage_v,
-					.bat_current = buf.batt.current_a,
-					.bat_discharged = buf.batt.discharged_mah,
-					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
-					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
-					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
-					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
-					.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
-					.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
-					.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
-					.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
-					.diff_pressure = buf.diff_pres.differential_pressure_pa,
-					.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
-					.true_airspeed = buf.airspeed.true_airspeed_m_s
-				};
-
-				/* put into buffer for later IO */
-				pthread_mutex_lock(&sysvector_mutex);
-				sdlog_logbuffer_write(&lb, &sysvect);
-				/* signal the other thread new data, but not yet unlock */
-				if ((unsigned)lb.count > (lb.size / 2)) {
-					/* only request write if several packets can be written at once */
-					pthread_cond_signal(&sysvector_cond);
-				}
-				/* unlock, now the writer thread may run */
-				pthread_mutex_unlock(&sysvector_mutex);
-			}
-
-		}
-
-	}
-
-	print_sdlog_status();
-
-	/* wake up write thread one last time */
-	pthread_mutex_lock(&sysvector_mutex);
-	pthread_cond_signal(&sysvector_cond);
-	/* unlock, now the writer thread may return */
-	pthread_mutex_unlock(&sysvector_mutex);
-
-	/* wait for write thread to return */
-	(void)pthread_join(sysvector_pthread, NULL);
-
-  	pthread_mutex_destroy(&sysvector_mutex);
-  	pthread_cond_destroy(&sysvector_cond);
-
-	warnx("exiting.\n\n");
-
-	/* finish KML file */
-	// XXX
-	fclose(gpsfile);
-	fclose(blackbox_file);
-
-	thread_running = false;
-
-	return 0;
-}
-
-void print_sdlog_status()
-{
-	unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
-	float mebibytes = bytes / 1024.0f / 1024.0f;
-	float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
-
-	warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
-}
-
-/**
- * @return 0 if file exists
- */
-int file_exist(const char *filename)
-{
-	struct stat buffer;
-	return stat(filename, &buffer);
-}
-
-int file_copy(const char *file_old, const char *file_new)
-{
-	FILE *source, *target;
-	source = fopen(file_old, "r");
-	int ret = 0;
-
-	if (source == NULL) {
-		warnx("failed opening input file to copy");
-		return 1;
-	}
-
-	target = fopen(file_new, "w");
-
-	if (target == NULL) {
-		fclose(source);
-		warnx("failed to open output file to copy");
-		return 1;
-	}
-
-	char buf[128];
-	int nread;
-
-	while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
-		int ret = fwrite(buf, 1, nread, target);
-
-		if (ret <= 0) {
-			warnx("error writing file");
-			ret = 1;
-			break;
-		}
-	}
-
-	fsync(fileno(target));
-
-	fclose(source);
-	fclose(target);
-
-	return ret;
-}
-
-void handle_command(struct vehicle_command_s *cmd)
-{
-	/* result of the command */
-	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-
-	/* request to set different system mode */
-	switch (cmd->command) {
-
-	case VEHICLE_CMD_PREFLIGHT_STORAGE:
-
-		if (((int)(cmd->param3)) == 1)	{
-
-			/* enable logging */
-			mavlink_log_info(mavlink_fd, "[log] file:");
-			mavlink_log_info(mavlink_fd, "logdir");
-			logging_enabled = true;
-		}
-		if (((int)(cmd->param3)) == 0)	{
-
-			/* disable logging */
-			mavlink_log_info(mavlink_fd, "[log] stopped.");
-			logging_enabled = false;
-		}
-		break;
-
-	default:
-		/* silently ignore */
-		break;
-	}
-
-}
diff --git a/src/modules/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c
deleted file mode 100644
index d7c8a4759..000000000
--- a/src/modules/sdlog/sdlog_ringbuffer.c
+++ /dev/null
@@ -1,91 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sdlog_log.c
- * MAVLink text logging.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <string.h>
-#include <stdlib.h>
-
-#include "sdlog_ringbuffer.h"
-
-void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size)
-{
-	lb->size  = size;
-	lb->start = 0;
-	lb->count = 0;
-	lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector));
-}
-
-int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb)
-{
-	return lb->count == (int)lb->size;
-}
-
-int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb)
-{
-	return lb->count == 0;
-}
-
-
-// XXX make these functions thread-safe
-void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem)
-{
-	int end = (lb->start + lb->count) % lb->size;
-	memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector));
-
-	if (sdlog_logbuffer_is_full(lb)) {
-		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
-
-	} else {
-		++lb->count;
-	}
-}
-
-int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem)
-{
-	if (!sdlog_logbuffer_is_empty(lb)) {
-		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector));
-		lb->start = (lb->start + 1) % lb->size;
-		--lb->count;
-		return 0;
-
-	} else {
-		return 1;
-	}
-}
diff --git a/src/modules/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h
deleted file mode 100644
index b65916459..000000000
--- a/src/modules/sdlog/sdlog_ringbuffer.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sdlog_ringbuffer.h
- * microSD logging
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef SDLOG_RINGBUFFER_H_
-#define SDLOG_RINGBUFFER_H_
-
-#pragma pack(push, 1)
-struct sdlog_sysvector {
-	uint64_t timestamp;		/**<  time [us] */
-	float gyro[3];			/**< [rad/s] */
-	float accel[3];			/**< [m/s^2] */
-	float mag[3];			/**< [gauss] */
-	float baro;			/**< pressure [millibar] */
-	float baro_alt;			/**< altitude above MSL [meter] */
-	float baro_temp;		/**< [degree celcius] */
-	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
-	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
-	float vbat;			/**< battery voltage in [volt] */
-	float bat_current;		/**< battery discharge current */
-	float bat_discharged;		/**< discharged energy in mAh */
-	float adc[4];			/**< ADC ports [volt] */
-	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
-	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
-	float attitude[3];		/**< roll, pitch, yaw [rad] */
-	float rotMatrix[9];		/**< unitvectors */
-	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
-	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
-	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
-	float diff_pressure;		/**< differential pressure */
-	float ind_airspeed;		/**< indicated airspeed */
-	float true_airspeed;		/**< true airspeed */
-};
-#pragma pack(pop)
-
-struct sdlog_logbuffer {
-	unsigned int start;
-	// unsigned int end;
-	unsigned int size;
-	int count;
-	struct sdlog_sysvector *elems;
-};
-
-void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
-
-int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
-
-int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
-
-void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
-
-int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
-
-#endif