Moved position_estimator_mc, px4io driver and sdlog app to new style build

68 files changed, 37 insertions, 35 deletions

diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index b3ebe4553..80c34d5dd 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -14,6 +14,9 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/ardrone_interface
+MODULES		+= drivers/px4io
+# sensors app is WIP
+#MODULES		+= modules/sensors
 
 #
 # System commands
@@ -41,7 +44,13 @@ MODULES		+= modules/mavlink_onboard
 #
 # Estimation modules (EKF / other filters)
 #
-#MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/position_estimator_mc
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog
 
 #
 # Transitional support - add commands from the NuttX export archive.
@@ -73,10 +82,6 @@ BUILTIN_COMMANDS := \
 	$(call _B, ms5611,                 ,                          2048,  ms5611_main                ) \
 	$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15,     2048,  multirotor_att_control_main) \
 	$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25,     2048,  multirotor_pos_control_main) \
-	$(call _B, position_estimator,     ,                          4096,  position_estimator_main    ) \
-	$(call _B, px4io,                  ,                          2048,  px4io_main                 ) \
-	$(call _B, sdlog,                  SCHED_PRIORITY_MAX-30,     2048,  sdlog_main                 ) \
-	$(call _B, sensors,                SCHED_PRIORITY_MAX-5,      4096,  sensors_main               ) \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
 	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index c7f433dd4..98098c83b 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Driver for the ST L3GD20 MEMS gyro connected via SPI.
+ * @file l3gd20.cpp
+ * Driver for the ST L3GD20 MEMS gyro connected via SPI.
  */
 
 #include <nuttx/config.h>
diff --git a/apps/drivers/px4io/Makefile b/src/drivers/px4io/module.mk
index cbd942546..328e5a684 100644
--- a/apps/drivers/px4io/Makefile
+++ b/src/drivers/px4io/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   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
@@ -35,8 +35,7 @@
 # Interface driver for the PX4IO board.
 #
 
-APPNAME		 = px4io
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+MODULE_COMMAND		= px4io
 
-include $(APPDIR)/mk/app.mk
+SRCS			= px4io.cpp \
+			  uploader.cpp
diff --git a/apps/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 4f6938a14..b21f83e44 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
+ *   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
diff --git a/apps/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index abf59216a..9a67875e8 100644
--- a/apps/drivers/px4io/uploader.cpp
+++ b/src/drivers/px4io/uploader.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Firmware uploader for PX4IO
+ * @file uploader.cpp
+ * Firmware uploader for PX4IO
  */
 
 #include <nuttx/config.h>
diff --git a/apps/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h
index f983d1981..135202dd1 100644
--- a/apps/drivers/px4io/uploader.h
+++ b/src/drivers/px4io/uploader.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Firmware uploader for PX4IO
+ * @file uploader.h
+ * Firmware uploader definitions for PX4IO.
  */
 
 #ifndef _PX4IO_UPLOADER_H
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 1a50dde0f..8e18c3c9a 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -46,7 +46,6 @@
 #include <stdbool.h>
 #include <poll.h>
 #include <fcntl.h>
-#include <v1.0/common/mavlink.h>
 #include <float.h>
 #include <nuttx/sched.h>
 #include <sys/prctl.h>
diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
index bfb7db997..d98647f99 100644
--- a/src/modules/attitude_estimator_ekf/module.mk
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#   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
@@ -35,10 +35,10 @@
 # Attitude estimator (Extended Kalman Filter)
 #
 
-MODULE_NAME	 = attitude_estimator_ekf
-CXXSRCS		 = attitude_estimator_ekf_main.cpp
+MODULE_COMMAND	 = attitude_estimator_ekf
 
-SRCS		 = attitude_estimator_ekf_params.c \
+SRCS		 = attitude_estimator_ekf_main.cpp \
+		   attitude_estimator_ekf_params.c \
 		   codegen/eye.c \
 		   codegen/attitudeKalmanfilter.c \
 		   codegen/mrdivide.c \
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
index b90da8289..556d5c2df 100644
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#   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
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
index 977565b8e..977565b8e 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
index 2f5330563..2f5330563 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
index 6627f76e9..6627f76e9 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
index a77eb5712..a77eb5712 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
index a65536f79..a65536f79 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
index 100c7f76c..100c7f76c 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
index d4b2c2d61..d4b2c2d61 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
index 11b999064..11b999064 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
index 30170ae22..30170ae22 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
index de5a1d8aa..de5a1d8aa 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
index 3d507ff31..3d507ff31 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
index 0757c878c..0757c878c 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
index 23995020b..23995020b 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
index f7a04d908..f7a04d908 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
index 9efe2ea7a..9efe2ea7a 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
index 9bbffbbb3..9bbffbbb3 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
index 8f2275c13..8f2275c13 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
index 952eb7b89..952eb7b89 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
index b87d604c4..b87d604c4 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
index 9dee90f9e..9dee90f9e 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
index b00858205..b00858205 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
index 69cc85c76..69cc85c76 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
index f36ea4557..f36ea4557 100755
--- a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
index 5139848bc..5139848bc 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
index 205c8eb4e..205c8eb4e 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
index 4c535618a..4c535618a 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
index 94cbe2ce6..94cbe2ce6 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
index aa89f8a9d..aa89f8a9d 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
index 8d358a9a3..8d358a9a3 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
index 20ed2edbb..20ed2edbb 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
index 5eb5807a0..5eb5807a0 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
index 43e5f016c..43e5f016c 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
index 5bd87c390..5bd87c390 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
index 44bce472f..44bce472f 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
index 41e11936f..41e11936f 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
index e84ea01bc..e84ea01bc 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
index 4b473f56f..4b473f56f 100755
--- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
diff --git a/apps/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c
index 51aef7b76..51aef7b76 100755
--- a/apps/position_estimator_mc/codegen/randn.c
+++ b/src/modules/position_estimator_mc/codegen/randn.c
diff --git a/apps/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h
index 8a2aa9277..8a2aa9277 100755
--- a/apps/position_estimator_mc/codegen/randn.h
+++ b/src/modules/position_estimator_mc/codegen/randn.h
diff --git a/apps/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c
index c6fa7884e..c6fa7884e 100755
--- a/apps/position_estimator_mc/codegen/rtGetInf.c
+++ b/src/modules/position_estimator_mc/codegen/rtGetInf.c
diff --git a/apps/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h
index e7b2a2d1c..e7b2a2d1c 100755
--- a/apps/position_estimator_mc/codegen/rtGetInf.h
+++ b/src/modules/position_estimator_mc/codegen/rtGetInf.h
diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
index 552770149..552770149 100755
--- a/apps/position_estimator_mc/codegen/rtGetNaN.c
+++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
index 5acdd9790..5acdd9790 100755
--- a/apps/position_estimator_mc/codegen/rtGetNaN.h
+++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
index de121c4a0..de121c4a0 100755
--- a/apps/position_estimator_mc/codegen/rt_nonfinite.c
+++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
index 3bbcfd087..3bbcfd087 100755
--- a/apps/position_estimator_mc/codegen/rt_nonfinite.h
+++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
diff --git a/apps/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h
index 8916e8572..8916e8572 100755
--- a/apps/position_estimator_mc/codegen/rtwtypes.h
+++ b/src/modules/position_estimator_mc/codegen/rtwtypes.h
diff --git a/apps/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m
index ff939d029..ff939d029 100755
--- a/apps/position_estimator_mc/kalman_dlqe1.m
+++ b/src/modules/position_estimator_mc/kalman_dlqe1.m
diff --git a/apps/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m
index 2a50164ef..2a50164ef 100755
--- a/apps/position_estimator_mc/kalman_dlqe2.m
+++ b/src/modules/position_estimator_mc/kalman_dlqe2.m
diff --git a/apps/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m
index 4c6421b7f..4c6421b7f 100755
--- a/apps/position_estimator_mc/kalman_dlqe3.m
+++ b/src/modules/position_estimator_mc/kalman_dlqe3.m
diff --git a/apps/position_estimator_mc/Makefile b/src/modules/position_estimator_mc/module.mk
index 8f1100158..40b135ea4 100644
--- a/apps/position_estimator_mc/Makefile
+++ b/src/modules/position_estimator_mc/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   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
@@ -35,11 +35,9 @@
 # Makefile to build the position estimator
 #
 
-APPNAME		 = position_estimator_mc
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND	 = position_estimator_mc
 
-CSRCS		 = position_estimator_mc_main.c \
+SRCS		 = position_estimator_mc_main.c \
 			   position_estimator_mc_params.c \
 			   codegen/positionKalmanFilter1D_initialize.c \
 			   codegen/positionKalmanFilter1D_terminate.c \
@@ -60,5 +58,3 @@ CSRCS		 = position_estimator_mc_main.c \
 			   codegen/kalman_dlqe3_terminate.c \
 			   codegen/kalman_dlqe3_data.c \
 			   codegen/randn.c
-			   
-include $(APPDIR)/mk/app.mk
diff --git a/apps/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
index 144ff8c7c..144ff8c7c 100755
--- a/apps/position_estimator_mc/positionKalmanFilter1D.m
+++ b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
diff --git a/apps/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
index f94cce1fb..f94cce1fb 100755
--- a/apps/position_estimator_mc/positionKalmanFilter1D_dT.m
+++ b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
diff --git a/apps/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c
index 10dee3f22..10dee3f22 100755
--- a/apps/position_estimator_mc/position_estimator_mc_main.c
+++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c
diff --git a/apps/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c
index 72e5bc73b..72e5bc73b 100755
--- a/apps/position_estimator_mc/position_estimator_mc_params.c
+++ b/src/modules/position_estimator_mc/position_estimator_mc_params.c
diff --git a/apps/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h
index c4c95f7b4..c4c95f7b4 100755
--- a/apps/position_estimator_mc/position_estimator_mc_params.h
+++ b/src/modules/position_estimator_mc/position_estimator_mc_params.h
diff --git a/apps/sdlog/Makefile b/src/modules/sdlog/module.mk
index 225b14a32..89da2d827 100644
--- a/apps/sdlog/Makefile
+++ b/src/modules/sdlog/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   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
@@ -35,9 +35,9 @@
 # sdlog Application
 #
 
-APPNAME		 = sdlog
+MODULE_COMMAND	 = sdlog
 # The main thread only buffers to RAM, needs a high priority
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
+MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
 
-include $(APPDIR)/mk/app.mk
+SRCS		 = sdlog.c \
+		   sdlog_ringbuffer.c
diff --git a/apps/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c
index df8745d9f..df8745d9f 100644
--- a/apps/sdlog/sdlog.c
+++ b/src/modules/sdlog/sdlog.c
diff --git a/apps/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c
index d7c8a4759..d7c8a4759 100644
--- a/apps/sdlog/sdlog_ringbuffer.c
+++ b/src/modules/sdlog/sdlog_ringbuffer.c
diff --git a/apps/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h
index b65916459..b65916459 100644
--- a/apps/sdlog/sdlog_ringbuffer.h
+++ b/src/modules/sdlog/sdlog_ringbuffer.h