Deleted old cruft

29 files changed, 0 insertions, 2939 deletions

diff --git a/apps/attitude_estimator_ekf/attitudeKalmanfilter.m b/apps/attitude_estimator_ekf/attitudeKalmanfilter.m
deleted file mode 100644
index 5fb4aa94f..000000000
--- a/apps/attitude_estimator_ekf/attitudeKalmanfilter.m
+++ /dev/null
@@ -1,108 +0,0 @@
-function [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)

-%#codegen

-

-

-%Extended Attitude Kalmanfilter

-%   

-    %state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]'

-    %measurement vector z has the following entries [ax,ay,az||mx,my,mz||wmx,wmy,wmz]'

-    %knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW]

-    %

-    %[x_aposteriori,P_aposteriori] = AttKalman(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)

-    %

-    %Example.... 

-    %

-    % $Author: Tobias Naegeli $    $Date: 2012 $    $Revision: 1 $

-   

-

-    %%define the matrices

-    acc_ProcessNoise=knownConst(1);

-    mag_ProcessNoise=knownConst(2); 

-    ratesOffset_ProcessNoise=knownConst(3);

-    rates_ProcessNoise=knownConst(4);

-   

-    

-    acc_MeasurementNoise=knownConst(5);

-    mag_MeasurementNoise=knownConst(6);

-    rates_MeasurementNoise=knownConst(7);

-

-     %process noise covariance matrix

-     Q = [      eye(3)*acc_ProcessNoise,    zeros(3),                   zeros(3),                           zeros(3);

-                zeros(3),                   eye(3)*mag_ProcessNoise,    zeros(3),                           zeros(3);

-                zeros(3),                   zeros(3),                   eye(3)*ratesOffset_ProcessNoise,    zeros(3);

-                zeros(3),                   zeros(3),                   zeros(3),                           eye(3)*rates_ProcessNoise];

-    

-     %measurement noise covariance matrix

-     R = [   eye(3)*acc_MeasurementNoise,       zeros(3),                       zeros(3);

-                 zeros(3),                          eye(3)*mag_MeasurementNoise,    zeros(3);

-                 zeros(3),                          zeros(3),                       eye(3)*rates_MeasurementNoise];

-    

-

-    %observation matrix

-    H_k=[   eye(3),     zeros(3),   zeros(3),   zeros(3);

-            zeros(3),   eye(3),     zeros(3),   zeros(3);

-            zeros(3),   zeros(3),   eye(3),     eye(3)];

-        

-    %compute A(t,w)

-    

-    %x_aposteriori_k[10,11,12] should be [p,q,r]

-    %R_temp=[1,-r, q

-    %        r, 1, -p

-    %       -q, p, 1]

-

-    R_temp=[1,-dt*x_aposteriori_k(12),dt*x_aposteriori_k(11);

-        dt*x_aposteriori_k(12),1,-dt*x_aposteriori_k(10);

-        -dt*x_aposteriori_k(11), dt*x_aposteriori_k(10),1];

-    

-    %strange, should not be transposed

-    A_pred=[R_temp',     zeros(3),   zeros(3),   zeros(3);

-        zeros(3),   R_temp',     zeros(3),   zeros(3);

-        zeros(3),   zeros(3),   eye(3),     zeros(3);

-        zeros(3),   zeros(3),   zeros(3),   eye(3)];

-    

-    %%prediction step

-    x_apriori=A_pred*x_aposteriori_k;

-

-    %linearization

-    acc_temp_mat=[0,              dt*x_aposteriori_k(3),    -dt*x_aposteriori_k(2);

-        -dt*x_aposteriori_k(3), 0,                  dt*x_aposteriori_k(1);

-        dt*x_aposteriori_k(2), -dt*x_aposteriori_k(1),    0];

-    

-    mag_temp_mat=[0,              dt*x_aposteriori_k(6),    -dt*x_aposteriori_k(5);

-        -dt*x_aposteriori_k(6), 0,                  dt*x_aposteriori_k(4);

-        dt*x_aposteriori_k(5), -dt*x_aposteriori_k(4),    0];

-    

-    A_lin=[R_temp',     zeros(3),   zeros(3),   acc_temp_mat';

-        zeros(3),   R_temp',     zeros(3),   mag_temp_mat';

-        zeros(3),   zeros(3),   eye(3),     zeros(3);

-        zeros(3),   zeros(3),   zeros(3),   eye(3)];

-    

-    

-    P_apriori=A_lin*P_aposteriori_k*A_lin'+Q;

-    

-    

-    %%update step

-

-    y_k=z_k-H_k*x_apriori;

-    S_k=H_k*P_apriori*H_k'+R;

-    K_k=(P_apriori*H_k'/(S_k));

-

-    

-    x_aposteriori=x_apriori+K_k*y_k;

-    P_aposteriori=(eye(12)-K_k*H_k)*P_apriori;

-

-

-    %%Rotation matrix generation

-    

-    earth_z=x_aposteriori(1:3)/norm(x_aposteriori(1:3));

-    earth_x=cross(earth_z,x_aposteriori(4:6)/norm(x_aposteriori(4:6)));

-    earth_y=cross(earth_x,earth_z);

-    

-    Rot_matrix=[earth_x,earth_y,earth_z];

-    

-

-

-

-

-

-

diff --git a/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj b/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj
deleted file mode 100644
index 431ddb71e..000000000
--- a/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj
+++ /dev/null
@@ -1,270 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>

-<deployment-project>

-  <configuration target="target.matlab.ecoder" target-name="MATLAB Embedded Coder Target" name="attitudeKalmanfilter" location="F:\codegenerationMatlabAttFilter" file="F:\codegenerationMatlabAttFilter\attitudeKalmanfilter.prj" build-checksum="2344418414">

-    <param.mex.general.TargetLang>option.general.TargetLang.C</param.mex.general.TargetLang>

-    <param.mex.general.IntegrityChecks>true</param.mex.general.IntegrityChecks>

-    <param.mex.general.ResponsivenessChecks>true</param.mex.general.ResponsivenessChecks>

-    <param.mex.general.EnableBLAS>true</param.mex.general.EnableBLAS>

-    <param.mex.general.ExtrinsicCalls>true</param.mex.general.ExtrinsicCalls>

-    <param.mex.general.EchoExpressions>true</param.mex.general.EchoExpressions>

-    <param.mex.general.EnableDebugging>true</param.mex.general.EnableDebugging>

-    <param.mex.general.SaturateOnIntegerOverflow>true</param.mex.general.SaturateOnIntegerOverflow>

-    <param.mex.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.mex.general.FilePartitionMethod>

-    <param.mex.general.GlobalDataSyncMethod>option.general.GlobalDataSyncMethod.SyncAlways</param.mex.general.GlobalDataSyncMethod>

-    <param.mex.general.EnableVariableSizing>true</param.mex.general.EnableVariableSizing>

-    <param.mex.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.mex.general.DynamicMemoryAllocation>

-    <param.mex.paths.working>option.paths.working.project</param.mex.paths.working>

-    <param.mex.paths.working.specified />

-    <param.mex.paths.build>option.paths.build.project</param.mex.paths.build>

-    <param.mex.paths.build.specified />

-    <param.mex.paths.search />

-    <param.mex.report.GenerateReport>true</param.mex.report.GenerateReport>

-    <param.mex.report.LaunchReport>false</param.mex.report.LaunchReport>

-    <param.mex.comments.GenerateComments>true</param.mex.comments.GenerateComments>

-    <param.mex.comments.MATLABSourceComments>true</param.mex.comments.MATLABSourceComments>

-    <param.mex.symbols.ReservedNameArray />

-    <param.mex.customcode.CustomSourceCode />

-    <param.mex.customcode.CustomHeaderCode />

-    <param.mex.customcode.CustomInitializer />

-    <param.mex.customcode.CustomTerminator />

-    <param.mex.customcode.CustomInclude />

-    <param.mex.customcode.CustomSource />

-    <param.mex.customcode.CustomLibrary />

-    <param.mex.PostCodeGenCommand />

-    <param.mex.EnableMemcpy>true</param.mex.EnableMemcpy>

-    <param.mex.MemcpyThreshold>64</param.mex.MemcpyThreshold>

-    <param.mex.InitFltsAndDblsToZero>true</param.mex.InitFltsAndDblsToZero>

-    <param.mex.InlineThreshold>10</param.mex.InlineThreshold>

-    <param.mex.InlineThresholdMax>200</param.mex.InlineThresholdMax>

-    <param.mex.InlineStackLimit>4000</param.mex.InlineStackLimit>

-    <param.mex.StackUsageMax>200000</param.mex.StackUsageMax>

-    <param.mex.ConstantFoldingTimeout>10000</param.mex.ConstantFoldingTimeout>

-    <param.grt.general.TargetLang>option.general.TargetLang.C</param.grt.general.TargetLang>

-    <param.general.target.description>MATLAB Embedded Coder Target</param.general.target.description>

-    <param.grt.CCompilerOptimization>option.CCompilerOptimization.On</param.grt.CCompilerOptimization>

-    <param.grt.CCompilerCustomOptimizations />

-    <param.grt.general.GenerateMakefile>true</param.grt.general.GenerateMakefile>

-    <param.grt.general.MakeCommand>make_rtw</param.grt.general.MakeCommand>

-    <param.grt.general.TemplateMakefile>default_tmf</param.grt.general.TemplateMakefile>

-    <param.grt.general.SaturateOnIntegerOverflow>true</param.grt.general.SaturateOnIntegerOverflow>

-    <param.grt.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.grt.general.FilePartitionMethod>

-    <param.grt.general.EnableVariableSizing>true</param.grt.general.EnableVariableSizing>

-    <param.grt.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.grt.general.DynamicMemoryAllocation>

-    <param.grt.paths.working>option.paths.working.project</param.grt.paths.working>

-    <param.grt.paths.working.specified />

-    <param.grt.paths.build>option.paths.build.project</param.grt.paths.build>

-    <param.grt.paths.build.specified />

-    <param.grt.paths.search />

-    <param.grt.report.GenerateReport>true</param.grt.report.GenerateReport>

-    <param.grt.report.LaunchReport>false</param.grt.report.LaunchReport>

-    <param.grt.GenerateComments>true</param.grt.GenerateComments>

-    <param.grt.MATLABSourceComments>true</param.grt.MATLABSourceComments>

-    <param.ert.MATLABFcnDesc>false</param.ert.MATLABFcnDesc>

-    <param.ert.CustomSymbolStrGlobalVar>$M$N</param.ert.CustomSymbolStrGlobalVar>

-    <param.ert.CustomSymbolStrType>$M$N</param.ert.CustomSymbolStrType>

-    <param.ert.CustomSymbolStrField>$M$N</param.ert.CustomSymbolStrField>

-    <param.ert.CustomSymbolStrFcn>$M$N</param.ert.CustomSymbolStrFcn>

-    <param.ert.CustomSymbolStrTmpVar>$M$N</param.ert.CustomSymbolStrTmpVar>

-    <param.ert.CustomSymbolStrMacro>$M$N</param.ert.CustomSymbolStrMacro>

-    <param.ert.CustomSymbolStrEMXArray>emxArray_$M$N</param.ert.CustomSymbolStrEMXArray>

-    <param.grt.MaxIdLength>32</param.grt.MaxIdLength>

-    <param.grt.ReservedNameArray />

-    <param.grt.customcode.CustomSourceCode />

-    <param.grt.customcode.CustomHeaderCode />

-    <param.grt.customcode.CustomInitializer />

-    <param.grt.customcode.CustomTerminator />

-    <param.grt.customcode.CustomInclude />

-    <param.grt.customcode.CustomSource />

-    <param.grt.customcode.CustomLibrary />

-    <param.grt.PostCodeGenCommand />

-    <param.grt.Verbose>false</param.grt.Verbose>

-    <param.grt.TargetFunctionLibrary>C89/C90 (ANSI)</param.grt.TargetFunctionLibrary>

-    <param.grt.SupportNonFinite>true</param.grt.SupportNonFinite>

-    <param.ert.TargetFunctionLibrary>C99 (ISO)</param.ert.TargetFunctionLibrary>

-    <param.ert.PurelyIntegerCode>false</param.ert.PurelyIntegerCode>

-    <param.ert.SupportNonFinite>true</param.ert.SupportNonFinite>

-    <param.ert.IncludeTerminateFcn>true</param.ert.IncludeTerminateFcn>

-    <param.ert.MultiInstanceCode>false</param.ert.MultiInstanceCode>

-    <param.ert.ParenthesesLevel>option.ParenthesesLevel.Nominal</param.ert.ParenthesesLevel>

-    <param.ert.ConvertIfToSwitch>false</param.ert.ConvertIfToSwitch>

-    <param.ert.PreserveExternInFcnDecls>true</param.ert.PreserveExternInFcnDecls>

-    <param.grt.EnableMemcpy>true</param.grt.EnableMemcpy>

-    <param.grt.MemcpyThreshold>64</param.grt.MemcpyThreshold>

-    <param.grt.InitFltsAndDblsToZero>true</param.grt.InitFltsAndDblsToZero>

-    <param.grt.InlineThreshold>10</param.grt.InlineThreshold>

-    <param.grt.InlineThresholdMax>200</param.grt.InlineThresholdMax>

-    <param.grt.InlineStackLimit>4000</param.grt.InlineStackLimit>

-    <param.grt.StackUsageMax>200000</param.grt.StackUsageMax>

-    <param.grt.ConstantFoldingTimeout>10000</param.grt.ConstantFoldingTimeout>

-    <param.UseECoderFeatures>true</param.UseECoderFeatures>

-    <param.mex.outputfile>attitudeKalmanfilter_mex</param.mex.outputfile>

-    <param.grt.outputfile>attitudeKalmanfilter</param.grt.outputfile>

-    <param.artifact>option.target.artifact.lib</param.artifact>

-    <param.mex.GenCodeOnly>false</param.mex.GenCodeOnly>

-    <param.grt.GenCodeOnly>true</param.grt.GenCodeOnly>

-    <param.version>R2011a</param.version>

-    <param.HasECoderFeatures>true</param.HasECoderFeatures>

-    <param.mex.mainhtml />

-    <param.grt.mainhtml>F:\codegenerationMatlabAttFilter\codegen\lib\attitudeKalmanfilter\html\index.html</param.grt.mainhtml>

-    <unset>

-      <param.mex.general.TargetLang />

-      <param.mex.general.IntegrityChecks />

-      <param.mex.general.ResponsivenessChecks />

-      <param.mex.general.EnableBLAS />

-      <param.mex.general.ExtrinsicCalls />

-      <param.mex.general.EchoExpressions />

-      <param.mex.general.EnableDebugging />

-      <param.mex.general.SaturateOnIntegerOverflow />

-      <param.mex.general.FilePartitionMethod />

-      <param.mex.general.GlobalDataSyncMethod />

-      <param.mex.general.EnableVariableSizing />

-      <param.mex.general.DynamicMemoryAllocation />

-      <param.mex.paths.working />

-      <param.mex.paths.working.specified />

-      <param.mex.paths.build />

-      <param.mex.paths.build.specified />

-      <param.mex.paths.search />

-      <param.mex.report.GenerateReport />

-      <param.mex.report.LaunchReport />

-      <param.mex.comments.GenerateComments />

-      <param.mex.comments.MATLABSourceComments />

-      <param.mex.symbols.ReservedNameArray />

-      <param.mex.customcode.CustomSourceCode />

-      <param.mex.customcode.CustomHeaderCode />

-      <param.mex.customcode.CustomInitializer />

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-      <param.mex.customcode.CustomInclude />

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-      <param.mex.customcode.CustomLibrary />

-      <param.mex.PostCodeGenCommand />

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-      <param.mex.InlineThreshold />

-      <param.mex.InlineThresholdMax />

-      <param.mex.InlineStackLimit />

-      <param.mex.StackUsageMax />

-      <param.mex.ConstantFoldingTimeout />

-      <param.grt.general.TargetLang />

-      <param.grt.CCompilerCustomOptimizations />

-      <param.grt.general.GenerateMakefile />

-      <param.grt.general.MakeCommand />

-      <param.grt.general.TemplateMakefile />

-      <param.grt.general.SaturateOnIntegerOverflow />

-      <param.grt.general.FilePartitionMethod />

-      <param.grt.general.EnableVariableSizing />

-      <param.grt.general.DynamicMemoryAllocation />

-      <param.grt.paths.working />

-      <param.grt.paths.working.specified />

-      <param.grt.paths.build />

-      <param.grt.paths.build.specified />

-      <param.grt.paths.search />

-      <param.grt.report.GenerateReport />

-      <param.grt.report.LaunchReport />

-      <param.grt.GenerateComments />

-      <param.ert.MATLABFcnDesc />

-      <param.ert.CustomSymbolStrGlobalVar />

-      <param.ert.CustomSymbolStrType />

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-      <param.grt.InlineThreshold />

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-      <param.grt.StackUsageMax />

-      <param.grt.ConstantFoldingTimeout />

-      <param.UseECoderFeatures />

-      <param.mex.outputfile />

-      <param.grt.outputfile />

-      <param.mex.GenCodeOnly />

-      <param.version />

-      <param.HasECoderFeatures />

-      <param.mex.mainhtml />

-    </unset>

-    <fileset.entrypoints>

-      <file value="${PROJECT_ROOT}\attitudeKalmanfilter.m" custom-data-expanded="true">

-        <Inputs fileName="attitudeKalmanfilter.m" functionName="attitudeKalmanfilter">

-          <Input Name="dt">

-            <Class>single</Class>

-            <Size>1 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="z_k">

-            <Class>single</Class>

-            <Size>9 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="x_aposteriori_k">

-            <Class>single</Class>

-            <Size>12 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="P_aposteriori_k">

-            <Class>single</Class>

-            <Size>12 x 12</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="knownConst">

-            <Class>single</Class>

-            <Size>7 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-        </Inputs>

-      </file>

-    </fileset.entrypoints>

-    <fileset.package />

-    <build-deliverables />

-    <matlab>

-      <root>C:\Program Files\MATLAB\R2011a</root>

-    </matlab>

-    <platform>

-      <unix>false</unix>

-      <mac>false</mac>

-      <windows>true</windows>

-      <win2k>false</win2k>

-      <winxp>false</winxp>

-      <vista>false</vista>

-      <linux>false</linux>

-      <solaris>false</solaris>

-      <osver>6.1</osver>

-      <os32>false</os32>

-      <os64>true</os64>

-      <arch>win64</arch>

-      <matlab>true</matlab>

-    </platform>

-  </configuration>

-</deployment-project>

-

diff --git a/apps/position_estimator/codegen/position_estimator.c b/apps/position_estimator/codegen/position_estimator.c
deleted file mode 100644
index 731ae03e3..000000000
--- a/apps/position_estimator/codegen/position_estimator.c
+++ /dev/null
@@ -1,261 +0,0 @@
-/*
- * position_estimator.c
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "position_estimator.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void position_estimator(const real32_T u[2], const real32_T z[3], const real32_T
-  xapo[6], const real32_T Papo[36], const real32_T gps_covariance[3], uint8_T
-  predict_only, real32_T xapo1[6], real32_T Papo1[36])
-{
-  real32_T fv0[6];
-  real32_T fv1[6];
-  real32_T I[36];
-  real32_T xapri[6];
-  int32_T i;
-  int32_T r1;
-  static const real32_T fv2[36] = { 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.004F,
-    1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
-    0.004F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F,
-    0.0F, 0.0F, 0.004F, 1.0F };
-
-  static const real32_T fv3[12] = { 0.0F, 0.0F, 0.1744F, 87.2F, 0.0F, 0.0F,
-    -0.1744F, -87.2F, 0.0F, 0.0F, 0.0F, 0.0F };
-
-  int32_T r2;
-  real32_T Papri[36];
-  real32_T maxval;
-  static const real32_T fv4[36] = { 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
-    1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F, 0.0F, 0.0F,
-    0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F,
-    0.0F, 0.0F, 0.0F, 0.0F, 1.0F };
-
-  static const real32_T fv5[36] = { 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
-    1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F,
-    0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F,
-    0.0F, 0.0F, 0.0F, 0.0F, 1.0F };
-
-  real32_T K[18];
-  static const int8_T iv0[18] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
-    0, 0 };
-
-  real32_T fv6[9];
-  static const int8_T iv1[18] = { 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
-    1, 0 };
-
-  real32_T b_gps_covariance[9];
-  real32_T A[9];
-  real32_T B[18];
-  int32_T r3;
-  real32_T a21;
-  real32_T Y[18];
-  real32_T b_z[3];
-  int8_T b_I[36];
-
-  /* if predit_onli == 1: no update step: use this when no new gps data is available */
-  /* %initialization */
-  /* use model F=m*a x''=F/m */
-  /*  250Hz---> dT = 0.004s */
-  /* u=[phi;theta] */
-  /* x=[px;vx;py;vy]; */
-  /* %------------------------------------------ */
-  /* %------------------------------------------------ */
-  /* R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1]; */
-  /* process Covariance Matrix */
-  /* measurement Covariance Matrix */
-  /* %prediction */
-  for (i = 0; i < 6; i++) {
-    fv0[i] = 0.0F;
-    for (r1 = 0; r1 < 6; r1++) {
-      fv0[i] += fv2[i + 6 * r1] * xapo[r1];
-    }
-
-    fv1[i] = 0.0F;
-    for (r1 = 0; r1 < 2; r1++) {
-      fv1[i] += fv3[i + 6 * r1] * u[r1];
-    }
-
-    xapri[i] = fv0[i] + fv1[i];
-    for (r1 = 0; r1 < 6; r1++) {
-      I[i + 6 * r1] = 0.0F;
-      for (r2 = 0; r2 < 6; r2++) {
-        I[i + 6 * r1] += fv2[i + 6 * r2] * Papo[r2 + 6 * r1];
-      }
-    }
-  }
-
-  for (i = 0; i < 6; i++) {
-    for (r1 = 0; r1 < 6; r1++) {
-      maxval = 0.0F;
-      for (r2 = 0; r2 < 6; r2++) {
-        maxval += I[i + 6 * r2] * fv4[r2 + 6 * r1];
-      }
-
-      Papri[i + 6 * r1] = maxval + fv5[i + 6 * r1];
-    }
-  }
-
-  if (1 != predict_only) {
-    /* update */
-    for (i = 0; i < 3; i++) {
-      for (r1 = 0; r1 < 6; r1++) {
-        K[i + 3 * r1] = 0.0F;
-        for (r2 = 0; r2 < 6; r2++) {
-          K[i + 3 * r1] += (real32_T)iv0[i + 3 * r2] * Papri[r2 + 6 * r1];
-        }
-      }
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (r1 = 0; r1 < 3; r1++) {
-        fv6[i + 3 * r1] = 0.0F;
-        for (r2 = 0; r2 < 6; r2++) {
-          fv6[i + 3 * r1] += K[r1 + 3 * r2] * (real32_T)iv1[r2 + 6 * i];
-        }
-      }
-    }
-
-    b_gps_covariance[0] = gps_covariance[0];
-    b_gps_covariance[1] = 0.0F;
-    b_gps_covariance[2] = 0.0F;
-    b_gps_covariance[3] = 0.0F;
-    b_gps_covariance[4] = gps_covariance[1];
-    b_gps_covariance[5] = 0.0F;
-    b_gps_covariance[6] = 0.0F;
-    b_gps_covariance[7] = 0.0F;
-    b_gps_covariance[8] = gps_covariance[2];
-    for (i = 0; i < 3; i++) {
-      for (r1 = 0; r1 < 3; r1++) {
-        A[r1 + 3 * i] = fv6[r1 + 3 * i] + b_gps_covariance[r1 + 3 * i];
-      }
-
-      for (r1 = 0; r1 < 6; r1++) {
-        B[i + 3 * r1] = 0.0F;
-        for (r2 = 0; r2 < 6; r2++) {
-          B[i + 3 * r1] += Papri[r1 + 6 * r2] * (real32_T)iv1[r2 + 6 * i];
-        }
-      }
-    }
-
-    r1 = 0;
-    r2 = 1;
-    r3 = 2;
-    maxval = (real32_T)fabs(A[0]);
-    a21 = (real32_T)fabs(A[1]);
-    if (a21 > maxval) {
-      maxval = a21;
-      r1 = 1;
-      r2 = 0;
-    }
-
-    if ((real32_T)fabs(A[2]) > maxval) {
-      r1 = 2;
-      r2 = 1;
-      r3 = 0;
-    }
-
-    A[r2] /= A[r1];
-    A[r3] /= A[r1];
-    A[3 + r2] -= A[r2] * A[3 + r1];
-    A[3 + r3] -= A[r3] * A[3 + r1];
-    A[6 + r2] -= A[r2] * A[6 + r1];
-    A[6 + r3] -= A[r3] * A[6 + r1];
-    if ((real32_T)fabs(A[3 + r3]) > (real32_T)fabs(A[3 + r2])) {
-      i = r2;
-      r2 = r3;
-      r3 = i;
-    }
-
-    A[3 + r3] /= A[3 + r2];
-    A[6 + r3] -= A[3 + r3] * A[6 + r2];
-    for (i = 0; i < 6; i++) {
-      Y[3 * i] = B[r1 + 3 * i];
-      Y[1 + 3 * i] = B[r2 + 3 * i] - Y[3 * i] * A[r2];
-      Y[2 + 3 * i] = (B[r3 + 3 * i] - Y[3 * i] * A[r3]) - Y[1 + 3 * i] * A[3 +
-        r3];
-      Y[2 + 3 * i] /= A[6 + r3];
-      Y[3 * i] -= Y[2 + 3 * i] * A[6 + r1];
-      Y[1 + 3 * i] -= Y[2 + 3 * i] * A[6 + r2];
-      Y[1 + 3 * i] /= A[3 + r2];
-      Y[3 * i] -= Y[1 + 3 * i] * A[3 + r1];
-      Y[3 * i] /= A[r1];
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (r1 = 0; r1 < 6; r1++) {
-        K[r1 + 6 * i] = Y[i + 3 * r1];
-      }
-    }
-
-    for (i = 0; i < 3; i++) {
-      maxval = 0.0F;
-      for (r1 = 0; r1 < 6; r1++) {
-        maxval += (real32_T)iv0[i + 3 * r1] * xapri[r1];
-      }
-
-      b_z[i] = z[i] - maxval;
-    }
-
-    for (i = 0; i < 6; i++) {
-      maxval = 0.0F;
-      for (r1 = 0; r1 < 3; r1++) {
-        maxval += K[i + 6 * r1] * b_z[r1];
-      }
-
-      xapo1[i] = xapri[i] + maxval;
-    }
-
-    for (i = 0; i < 36; i++) {
-      b_I[i] = 0;
-    }
-
-    for (i = 0; i < 6; i++) {
-      b_I[i + 6 * i] = 1;
-    }
-
-    for (i = 0; i < 6; i++) {
-      for (r1 = 0; r1 < 6; r1++) {
-        maxval = 0.0F;
-        for (r2 = 0; r2 < 3; r2++) {
-          maxval += K[i + 6 * r2] * (real32_T)iv0[r2 + 3 * r1];
-        }
-
-        I[i + 6 * r1] = (real32_T)b_I[i + 6 * r1] - maxval;
-      }
-    }
-
-    for (i = 0; i < 6; i++) {
-      for (r1 = 0; r1 < 6; r1++) {
-        Papo1[i + 6 * r1] = 0.0F;
-        for (r2 = 0; r2 < 6; r2++) {
-          Papo1[i + 6 * r1] += I[i + 6 * r2] * Papri[r2 + 6 * r1];
-        }
-      }
-    }
-  } else {
-    memcpy((void *)&Papo1[0], (void *)&Papri[0], 36U * sizeof(real32_T));
-    for (i = 0; i < 6; i++) {
-      xapo1[i] = xapri[i];
-    }
-  }
-}
-
-/* End of code generation (position_estimator.c) */
diff --git a/apps/position_estimator/codegen/position_estimator.h b/apps/position_estimator/codegen/position_estimator.h
deleted file mode 100644
index 5e2c9acd8..000000000
--- a/apps/position_estimator/codegen/position_estimator.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * position_estimator.h
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#ifndef __POSITION_ESTIMATOR_H__
-#define __POSITION_ESTIMATOR_H__
-/* Include files */
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rtwtypes.h"
-#include "position_estimator_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void position_estimator(const real32_T u[2], const real32_T z[3], const real32_T xapo[6], const real32_T Papo[36], const real32_T gps_covariance[3], uint8_T predict_only, real32_T xapo1[6], real32_T Papo1[36]);
-#endif
-/* End of code generation (position_estimator.h) */
diff --git a/apps/position_estimator/codegen/position_estimator_initialize.c b/apps/position_estimator/codegen/position_estimator_initialize.c
deleted file mode 100644
index 862381d3b..000000000
--- a/apps/position_estimator/codegen/position_estimator_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * position_estimator_initialize.c
- *
- * Code generation for function 'position_estimator_initialize'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "position_estimator.h"
-#include "position_estimator_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void position_estimator_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (position_estimator_initialize.c) */
diff --git a/apps/position_estimator/codegen/position_estimator_initialize.h b/apps/position_estimator/codegen/position_estimator_initialize.h
deleted file mode 100644
index 71013b390..000000000
--- a/apps/position_estimator/codegen/position_estimator_initialize.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * position_estimator_initialize.h
- *
- * Code generation for function 'position_estimator_initialize'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#ifndef __POSITION_ESTIMATOR_INITIALIZE_H__
-#define __POSITION_ESTIMATOR_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rtwtypes.h"
-#include "position_estimator_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void position_estimator_initialize(void);
-#endif
-/* End of code generation (position_estimator_initialize.h) */
diff --git a/apps/position_estimator/codegen/position_estimator_terminate.c b/apps/position_estimator/codegen/position_estimator_terminate.c
deleted file mode 100644
index b25aabf40..000000000
--- a/apps/position_estimator/codegen/position_estimator_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * position_estimator_terminate.c
- *
- * Code generation for function 'position_estimator_terminate'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "position_estimator.h"
-#include "position_estimator_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void position_estimator_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (position_estimator_terminate.c) */
diff --git a/apps/position_estimator/codegen/position_estimator_terminate.h b/apps/position_estimator/codegen/position_estimator_terminate.h
deleted file mode 100644
index d9fcf838b..000000000
--- a/apps/position_estimator/codegen/position_estimator_terminate.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * position_estimator_terminate.h
- *
- * Code generation for function 'position_estimator_terminate'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#ifndef __POSITION_ESTIMATOR_TERMINATE_H__
-#define __POSITION_ESTIMATOR_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rtwtypes.h"
-#include "position_estimator_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void position_estimator_terminate(void);
-#endif
-/* End of code generation (position_estimator_terminate.h) */
diff --git a/apps/position_estimator/codegen/position_estimator_types.h b/apps/position_estimator/codegen/position_estimator_types.h
deleted file mode 100644
index cb01c7426..000000000
--- a/apps/position_estimator/codegen/position_estimator_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * position_estimator_types.h
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#ifndef __POSITION_ESTIMATOR_TYPES_H__
-#define __POSITION_ESTIMATOR_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (position_estimator_types.h) */
diff --git a/apps/position_estimator/codegen/rtGetInf.c b/apps/position_estimator/codegen/rtGetInf.c
deleted file mode 100644
index 20a64117c..000000000
--- a/apps/position_estimator/codegen/rtGetInf.c
+++ /dev/null
@@ -1,139 +0,0 @@
-/*
- * rtGetInf.c
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-/*
- * 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/apps/position_estimator/codegen/rtGetInf.h b/apps/position_estimator/codegen/rtGetInf.h
deleted file mode 100644
index c74f1fc28..000000000
--- a/apps/position_estimator/codegen/rtGetInf.h
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * rtGetInf.h
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#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/apps/position_estimator/codegen/rtGetNaN.c b/apps/position_estimator/codegen/rtGetNaN.c
deleted file mode 100644
index 6aa2f4639..000000000
--- a/apps/position_estimator/codegen/rtGetNaN.c
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- * rtGetNaN.c
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-/*
- * 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/apps/position_estimator/codegen/rtGetNaN.h b/apps/position_estimator/codegen/rtGetNaN.h
deleted file mode 100644
index d3ec61c9e..000000000
--- a/apps/position_estimator/codegen/rtGetNaN.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * rtGetNaN.h
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#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/apps/position_estimator/codegen/rt_nonfinite.c b/apps/position_estimator/codegen/rt_nonfinite.c
deleted file mode 100644
index 40e15fd22..000000000
--- a/apps/position_estimator/codegen/rt_nonfinite.c
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * rt_nonfinite.c
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-/*
- * 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/apps/position_estimator/codegen/rt_nonfinite.h b/apps/position_estimator/codegen/rt_nonfinite.h
deleted file mode 100644
index ac9660124..000000000
--- a/apps/position_estimator/codegen/rt_nonfinite.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * rt_nonfinite.h
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#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/apps/position_estimator/codegen/rtwtypes.h b/apps/position_estimator/codegen/rtwtypes.h
deleted file mode 100644
index e87ae1fdc..000000000
--- a/apps/position_estimator/codegen/rtwtypes.h
+++ /dev/null
@@ -1,175 +0,0 @@
-/*
- * rtwtypes.h
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun  8 13:31:21 2012
- *
- */
-
-#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:  64      native word size:  64
- *   Byte ordering: LittleEndian
- *   Signed integer division rounds to: Zero
- *   Shift right on a signed integer as arithmetic shift: on
- *=======================================================================*/
-
-/*=======================================================================* 
- * 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 long int64_T;
-typedef unsigned long uint64_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 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;  
-
-   typedef struct {  
-     int64_T re;  
-     int64_T im;  
-   } cint64_T;  
-
-   typedef struct {  
-     uint64_T re;  
-     uint64_T im;  
-   } cuint64_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))
-#define MAX_int64_T	((int64_T)(9223372036854775807L))
-#define MIN_int64_T	((int64_T)(-9223372036854775807L-1L))
-#define MAX_uint64_T	((uint64_T)(0xFFFFFFFFFFFFFFFFUL))
-#define MIN_uint64_T	((uint64_T)(0UL))
-
-/* 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/apps/position_estimator/position_estimator.m b/apps/position_estimator/position_estimator.m
deleted file mode 100644
index 2ef4d8b06..000000000
--- a/apps/position_estimator/position_estimator.m
+++ /dev/null
@@ -1,62 +0,0 @@
-function [xapo1,Papo1] = position_estimator(u,z,xapo,Papo,gps_covariance,predict_only) %if predit_onli == 1: no update step: use this when no new gps data is available
-%#codegen
-%%initialization
-%use model F=m*a x''=F/m
-% 250Hz---> dT = 0.004s
-%u=[phi;theta]
-%x=[px;vx;py;vy];
-%%------------------------------------------
-dT=0.004;
-%%------------------------------------------------
-
-%R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1];
-
-
-F=[ 1,      0.004,  0,      0,      0,      0;
-    0,      1,      0,      0,      0,      0;
-    0,      0,      1,      0.004,  0,      0;
-    0,      0,      0,      1,      0,      0;
-    0,      0,      0,      0,      1,      0.004;
-    0,      0,      0,      0,      0,      1];
-
-B=[ 0,      -0.1744;
-    0,      -87.2;
-    0.1744, 0;
-    87.2,   0;
-    0,      0;
-    0,      0];
- 
-H=[1,0,0,0,0,0;
-   0,0,1,0,0,0;
-   0,0,0,0,1,0];
-
-
-
- Q=[1e-007        ,0      ,0      ,0      ,0      ,0;
-    0           ,1   ,0      ,0      ,0      ,0;
-    0           ,0      ,1e-007   ,0      ,0      ,0;
-    0           ,0      ,0      ,1   ,0      ,0
-    0           ,0      ,0      ,0      ,1e-007   ,0;
-    0           ,0      ,0      ,0      ,0      ,1]; %process Covariance Matrix
-
-
-R=[gps_covariance(1),  0,          0;
-   0,       gps_covariance(2),     0;
-   0,       0,          gps_covariance(3)]; %measurement Covariance Matrix
-
-%%prediction
-
-xapri=F*xapo+B*u;
-Papri=F*Papo*F'+Q;
-
-if 1 ~= predict_only
-    %update
-    yr=z-H*xapri;
-    S=H*Papri*H'+R;
-    K=(Papri*H')/S;
-    xapo1=xapri+K*yr;
-    Papo1=(eye(6)-K*H)*Papri;
-else
-    Papo1=Papri;
-    xapo1=xapri;
-end
\ No newline at end of file
diff --git a/apps/position_estimator/position_estimator.prj b/apps/position_estimator/position_estimator.prj
deleted file mode 100644
index d754f36cc..000000000
--- a/apps/position_estimator/position_estimator.prj
+++ /dev/null
@@ -1,269 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>

-<deployment-project>

-  <configuration target="target.matlab.ecoder" target-name="MATLAB Embedded Coder Target" name="position_estimator" location="/home/thomasgubler/src/px4_nxbuilder/px4fmu/apps/position_estimator" file="/home/thomasgubler/src/px4_nxbuilder/px4fmu/apps/position_estimator/position_estimator.prj" build-checksum="2425236060">

-    <param.mex.general.TargetLang>option.general.TargetLang.C</param.mex.general.TargetLang>

-    <param.mex.general.IntegrityChecks>true</param.mex.general.IntegrityChecks>

-    <param.mex.general.ResponsivenessChecks>true</param.mex.general.ResponsivenessChecks>

-    <param.mex.general.EnableBLAS>false</param.mex.general.EnableBLAS>

-    <param.mex.general.ExtrinsicCalls>true</param.mex.general.ExtrinsicCalls>

-    <param.mex.general.EchoExpressions>true</param.mex.general.EchoExpressions>

-    <param.mex.general.EnableDebugging>true</param.mex.general.EnableDebugging>

-    <param.mex.general.SaturateOnIntegerOverflow>true</param.mex.general.SaturateOnIntegerOverflow>

-    <param.mex.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.mex.general.FilePartitionMethod>

-    <param.mex.general.GlobalDataSyncMethod>option.general.GlobalDataSyncMethod.SyncAlways</param.mex.general.GlobalDataSyncMethod>

-    <param.mex.general.EnableVariableSizing>true</param.mex.general.EnableVariableSizing>

-    <param.mex.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.mex.general.DynamicMemoryAllocation>

-    <param.mex.paths.working>option.paths.working.project</param.mex.paths.working>

-    <param.mex.paths.working.specified />

-    <param.mex.paths.build>option.paths.build.project</param.mex.paths.build>

-    <param.mex.paths.build.specified />

-    <param.mex.paths.search />

-    <param.mex.report.GenerateReport>true</param.mex.report.GenerateReport>

-    <param.mex.report.LaunchReport>false</param.mex.report.LaunchReport>

-    <param.mex.comments.GenerateComments>true</param.mex.comments.GenerateComments>

-    <param.mex.comments.MATLABSourceComments>true</param.mex.comments.MATLABSourceComments>

-    <param.mex.symbols.ReservedNameArray />

-    <param.mex.customcode.CustomSourceCode />

-    <param.mex.customcode.CustomHeaderCode />

-    <param.mex.customcode.CustomInitializer />

-    <param.mex.customcode.CustomTerminator />

-    <param.mex.customcode.CustomInclude />

-    <param.mex.customcode.CustomSource />

-    <param.mex.customcode.CustomLibrary />

-    <param.mex.PostCodeGenCommand />

-    <param.mex.EnableMemcpy>true</param.mex.EnableMemcpy>

-    <param.mex.MemcpyThreshold>64</param.mex.MemcpyThreshold>

-    <param.mex.InitFltsAndDblsToZero>true</param.mex.InitFltsAndDblsToZero>

-    <param.mex.InlineThreshold>10</param.mex.InlineThreshold>

-    <param.mex.InlineThresholdMax>200</param.mex.InlineThresholdMax>

-    <param.mex.InlineStackLimit>4000</param.mex.InlineStackLimit>

-    <param.mex.StackUsageMax>200000</param.mex.StackUsageMax>

-    <param.mex.ConstantFoldingTimeout>10000</param.mex.ConstantFoldingTimeout>

-    <param.grt.general.TargetLang>option.general.TargetLang.C</param.grt.general.TargetLang>

-    <param.general.target.description>MATLAB Embedded Coder Target</param.general.target.description>

-    <param.grt.CCompilerOptimization>option.CCompilerOptimization.Off</param.grt.CCompilerOptimization>

-    <param.grt.CCompilerCustomOptimizations />

-    <param.grt.general.GenerateMakefile>false</param.grt.general.GenerateMakefile>

-    <param.grt.general.MakeCommand>make_rtw</param.grt.general.MakeCommand>

-    <param.grt.general.TemplateMakefile>default_tmf</param.grt.general.TemplateMakefile>

-    <param.grt.general.SaturateOnIntegerOverflow>true</param.grt.general.SaturateOnIntegerOverflow>

-    <param.grt.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.grt.general.FilePartitionMethod>

-    <param.grt.general.EnableVariableSizing>true</param.grt.general.EnableVariableSizing>

-    <param.grt.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.grt.general.DynamicMemoryAllocation>

-    <param.grt.paths.working>option.paths.working.project</param.grt.paths.working>

-    <param.grt.paths.working.specified />

-    <param.grt.paths.build>option.paths.build.specified</param.grt.paths.build>

-    <param.grt.paths.build.specified>./codegen</param.grt.paths.build.specified>

-    <param.grt.paths.search />

-    <param.grt.report.GenerateReport>false</param.grt.report.GenerateReport>

-    <param.grt.report.LaunchReport>false</param.grt.report.LaunchReport>

-    <param.grt.GenerateComments>true</param.grt.GenerateComments>

-    <param.grt.MATLABSourceComments>false</param.grt.MATLABSourceComments>

-    <param.ert.MATLABFcnDesc>false</param.ert.MATLABFcnDesc>

-    <param.ert.CustomSymbolStrGlobalVar>$M$N</param.ert.CustomSymbolStrGlobalVar>

-    <param.ert.CustomSymbolStrType>$M$N</param.ert.CustomSymbolStrType>

-    <param.ert.CustomSymbolStrField>$M$N</param.ert.CustomSymbolStrField>

-    <param.ert.CustomSymbolStrFcn>$M$N</param.ert.CustomSymbolStrFcn>

-    <param.ert.CustomSymbolStrTmpVar>$M$N</param.ert.CustomSymbolStrTmpVar>

-    <param.ert.CustomSymbolStrMacro>$M$N</param.ert.CustomSymbolStrMacro>

-    <param.ert.CustomSymbolStrEMXArray>emxArray_$M$N</param.ert.CustomSymbolStrEMXArray>

-    <param.grt.MaxIdLength>32</param.grt.MaxIdLength>

-    <param.grt.ReservedNameArray />

-    <param.grt.customcode.CustomSourceCode />

-    <param.grt.customcode.CustomHeaderCode />

-    <param.grt.customcode.CustomInitializer />

-    <param.grt.customcode.CustomTerminator />

-    <param.grt.customcode.CustomInclude />

-    <param.grt.customcode.CustomSource />

-    <param.grt.customcode.CustomLibrary />

-    <param.grt.PostCodeGenCommand />

-    <param.grt.Verbose>false</param.grt.Verbose>

-    <param.grt.TargetFunctionLibrary>C89/C90 (ANSI)</param.grt.TargetFunctionLibrary>

-    <param.grt.SupportNonFinite>true</param.grt.SupportNonFinite>

-    <param.ert.TargetFunctionLibrary>C89/C90 (ANSI)</param.ert.TargetFunctionLibrary>

-    <param.ert.PurelyIntegerCode>false</param.ert.PurelyIntegerCode>

-    <param.ert.SupportNonFinite>true</param.ert.SupportNonFinite>

-    <param.ert.IncludeTerminateFcn>true</param.ert.IncludeTerminateFcn>

-    <param.ert.MultiInstanceCode>false</param.ert.MultiInstanceCode>

-    <param.ert.ParenthesesLevel>option.ParenthesesLevel.Nominal</param.ert.ParenthesesLevel>

-    <param.ert.ConvertIfToSwitch>false</param.ert.ConvertIfToSwitch>

-    <param.ert.PreserveExternInFcnDecls>true</param.ert.PreserveExternInFcnDecls>

-    <param.grt.EnableMemcpy>true</param.grt.EnableMemcpy>

-    <param.grt.MemcpyThreshold>64</param.grt.MemcpyThreshold>

-    <param.grt.InitFltsAndDblsToZero>true</param.grt.InitFltsAndDblsToZero>

-    <param.grt.InlineThreshold>10</param.grt.InlineThreshold>

-    <param.grt.InlineThresholdMax>200</param.grt.InlineThresholdMax>

-    <param.grt.InlineStackLimit>4000</param.grt.InlineStackLimit>

-    <param.grt.StackUsageMax>200000</param.grt.StackUsageMax>

-    <param.grt.ConstantFoldingTimeout>10000</param.grt.ConstantFoldingTimeout>

-    <param.UseECoderFeatures>true</param.UseECoderFeatures>

-    <param.mex.outputfile>position_estimator_mex</param.mex.outputfile>

-    <param.grt.outputfile>position_estimator</param.grt.outputfile>

-    <param.artifact>option.target.artifact.lib</param.artifact>

-    <param.mex.GenCodeOnly>true</param.mex.GenCodeOnly>

-    <param.grt.GenCodeOnly>true</param.grt.GenCodeOnly>

-    <param.version>R2011a</param.version>

-    <param.HasECoderFeatures>true</param.HasECoderFeatures>

-    <param.mex.mainhtml>/home/thomasgubler/Dropbox/Semester Project Autonomous Landing PX4/position_estimator/codegen/mex/position_estimator/html/index.html</param.mex.mainhtml>

-    <param.grt.mainhtml />

-    <unset>

-      <param.mex.general.TargetLang />

-      <param.mex.general.IntegrityChecks />

-      <param.mex.general.ResponsivenessChecks />

-      <param.mex.general.ExtrinsicCalls />

-      <param.mex.general.EchoExpressions />

-      <param.mex.general.EnableDebugging />

-      <param.mex.general.SaturateOnIntegerOverflow />

-      <param.mex.general.FilePartitionMethod />

-      <param.mex.general.GlobalDataSyncMethod />

-      <param.mex.general.EnableVariableSizing />

-      <param.mex.general.DynamicMemoryAllocation />

-      <param.mex.paths.working />

-      <param.mex.paths.working.specified />

-      <param.mex.paths.build />

-      <param.mex.paths.build.specified />

-      <param.mex.paths.search />

-      <param.mex.report.GenerateReport />

-      <param.mex.report.LaunchReport />

-      <param.mex.comments.GenerateComments />

-      <param.mex.comments.MATLABSourceComments />

-      <param.mex.symbols.ReservedNameArray />

-      <param.mex.customcode.CustomInclude />

-      <param.mex.customcode.CustomSource />

-      <param.mex.customcode.CustomLibrary />

-      <param.mex.PostCodeGenCommand />

-      <param.mex.EnableMemcpy />

-      <param.mex.MemcpyThreshold />

-      <param.mex.InitFltsAndDblsToZero />

-      <param.mex.InlineThreshold />

-      <param.mex.InlineThresholdMax />

-      <param.mex.InlineStackLimit />

-      <param.mex.StackUsageMax />

-      <param.mex.ConstantFoldingTimeout />

-      <param.grt.general.TargetLang />

-      <param.grt.CCompilerOptimization />

-      <param.grt.CCompilerCustomOptimizations />

-      <param.grt.general.MakeCommand />

-      <param.grt.general.TemplateMakefile />

-      <param.grt.general.SaturateOnIntegerOverflow />

-      <param.grt.general.FilePartitionMethod />

-      <param.grt.general.EnableVariableSizing />

-      <param.grt.general.DynamicMemoryAllocation />

-      <param.grt.paths.working />

-      <param.grt.paths.working.specified />

-      <param.grt.paths.search />

-      <param.grt.report.LaunchReport />

-      <param.grt.GenerateComments />

-      <param.grt.MATLABSourceComments />

-      <param.ert.MATLABFcnDesc />

-      <param.ert.CustomSymbolStrGlobalVar />

-      <param.ert.CustomSymbolStrType />

-      <param.ert.CustomSymbolStrField />

-      <param.ert.CustomSymbolStrFcn />

-      <param.ert.CustomSymbolStrTmpVar />

-      <param.ert.CustomSymbolStrMacro />

-      <param.ert.CustomSymbolStrEMXArray />

-      <param.grt.MaxIdLength />

-      <param.grt.ReservedNameArray />

-      <param.grt.customcode.CustomHeaderCode />

-      <param.grt.customcode.CustomInitializer />

-      <param.grt.customcode.CustomTerminator />

-      <param.grt.customcode.CustomInclude />

-      <param.grt.customcode.CustomSource />

-      <param.grt.customcode.CustomLibrary />

-      <param.grt.PostCodeGenCommand />

-      <param.grt.Verbose />

-      <param.grt.SupportNonFinite />

-      <param.ert.PurelyIntegerCode />

-      <param.ert.SupportNonFinite />

-      <param.ert.IncludeTerminateFcn />

-      <param.ert.MultiInstanceCode />

-      <param.ert.ParenthesesLevel />

-      <param.ert.ConvertIfToSwitch />

-      <param.ert.PreserveExternInFcnDecls />

-      <param.grt.EnableMemcpy />

-      <param.grt.MemcpyThreshold />

-      <param.grt.InitFltsAndDblsToZero />

-      <param.grt.InlineThreshold />

-      <param.grt.InlineThresholdMax />

-      <param.grt.InlineStackLimit />

-      <param.grt.StackUsageMax />

-      <param.grt.ConstantFoldingTimeout />

-      <param.UseECoderFeatures />

-      <param.mex.outputfile />

-      <param.grt.outputfile />

-      <param.version />

-      <param.HasECoderFeatures />

-    </unset>

-    <fileset.entrypoints>

-      <file value="${PROJECT_ROOT}/position_estimator.m" custom-data-expanded="true">

-        <Inputs fileName="position_estimator.m" functionName="position_estimator">

-          <Input Name="u">

-            <Class>single</Class>

-            <Size>2 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="z">

-            <Class>single</Class>

-            <Size>3 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="xapo">

-            <Class>single</Class>

-            <Size>6 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="Papo">

-            <Class>single</Class>

-            <Size>6 x 6</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="gps_covariance">

-            <Class>single</Class>

-            <Size>3 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-          <Input Name="predict_only">

-            <Class>uint8</Class>

-            <Size>1 x 1</Size>

-            <Value />

-            <InitialValue />

-            <Complex>false</Complex>

-          </Input>

-        </Inputs>

-      </file>

-    </fileset.entrypoints>

-    <fileset.package />

-    <build-deliverables />

-    <workflow />

-    <matlab>

-      <root>/home/thomasgubler/tools/matlab</root>

-    </matlab>

-    <platform>

-      <unix>true</unix>

-      <mac>false</mac>

-      <windows>false</windows>

-      <win2k>false</win2k>

-      <winxp>false</winxp>

-      <vista>false</vista>

-      <linux>true</linux>

-      <solaris>false</solaris>

-      <osver>3.2.0-25-generic</osver>

-      <os32>false</os32>

-      <os64>true</os64>

-      <arch>glnxa64</arch>

-      <matlab>true</matlab>

-    </platform>

-  </configuration>

-</deployment-project>

-

diff --git a/apps/px4/attitude_estimator_bm/.context b/apps/px4/attitude_estimator_bm/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/px4/attitude_estimator_bm/.context
+++ /dev/null
diff --git a/apps/px4/attitude_estimator_bm/Makefile b/apps/px4/attitude_estimator_bm/Makefile
deleted file mode 100644
index 2c1cfc510..000000000
--- a/apps/px4/attitude_estimator_bm/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 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 black magic attitude estimator
-#
-
-APPNAME		 = attitude_estimator_bm
-PRIORITY	= SCHED_PRIORITY_MAX - 10
-STACKSIZE	= 12000
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.c b/apps/px4/attitude_estimator_bm/attitude_bm.c
deleted file mode 100644
index 6921db375..000000000
--- a/apps/px4/attitude_estimator_bm/attitude_bm.c
+++ /dev/null
@@ -1,322 +0,0 @@
-
-/*
- * attitude_bm.c
- *
- *  Created on: 21.12.2010
- *      Author: Laurens Mackay, Tobias Naegeli
- */
-
-#include <math.h>
-#include "attitude_bm.h"
-#include "kalman.h"
-
-
-#define TIME_STEP (1.0f / 500.0f)
-
-static kalman_t attitude_blackmagic_kal;
-
-void vect_norm(float_vect3 *vect)
-{
-	float length = sqrtf(
-			       vect->x * vect->x + vect->y * vect->y + vect->z * vect->z);
-
-	if (length != 0) {
-		vect->x /= length;
-		vect->y /= length;
-		vect->z /= length;
-	}
-}
-
-
-void vect_cross_product(const float_vect3 *a, const float_vect3 *b,
-			float_vect3 *c)
-{
-	c->x = a->y * b->z - a->z * b->y;
-	c->y = a->z * b->x - a->x * b->z;
-	c->z = a->x * b->y - a->y * b->x;
-}
-
-void attitude_blackmagic_update_a(void)
-{
-	// for acc
-	// Idendity matrix already in A.
-	M(attitude_blackmagic_kal.a, 0, 1) = TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 11);
-	M(attitude_blackmagic_kal.a, 0, 2) = -TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 10);
-
-	M(attitude_blackmagic_kal.a, 1, 0) = -TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 11);
-	M(attitude_blackmagic_kal.a, 1, 2) = TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 9);
-
-	M(attitude_blackmagic_kal.a, 2, 0) = TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 10);
-	M(attitude_blackmagic_kal.a, 2, 1) = -TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 9);
-
-	// for mag
-	// Idendity matrix already in A.
-	M(attitude_blackmagic_kal.a, 3, 4) = TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 11);
-	M(attitude_blackmagic_kal.a, 3, 5) = -TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 10);
-
-	M(attitude_blackmagic_kal.a, 4, 3) = -TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 11);
-	M(attitude_blackmagic_kal.a, 4, 5) = TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 9);
-
-	M(attitude_blackmagic_kal.a, 5, 3) = TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 10);
-	M(attitude_blackmagic_kal.a, 5, 4) = -TIME_STEP * kalman_get_state(
-			&attitude_blackmagic_kal, 9);
-
-}
-
-void attitude_blackmagic_init(void)
-{
-	//X Kalmanfilter
-	//initalize matrices
-
-	static m_elem kal_a[12 * 12] = {
-		1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0f
-	};
-
-	static m_elem kal_c[9 * 12] = {
-		1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 1.0f, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 1.0f, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 1.0f
-	};
-
-
-
-#define FACTOR 0.5
-#define FACTORstart 1
-
-
-//	static m_elem kal_gain[12 * 9] =
-//	{ 		0.004 , 0    ,   0    ,   0    ,   0    ,   0    ,   0   ,    0    ,   0,
-//			0   ,    0.004 , 0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0,
-//			0   ,    0    ,   0.004 , 0   ,    0   ,    0   ,    0   ,    0   ,    0,
-//			0   ,    0    ,   0   ,    0.015, 	0   ,    0   ,    0   ,    0   ,    0,
-//			0   ,    0   ,    0   ,    0    ,   0.015, 	 0   ,    0   ,    0   ,    0,
-//			0   ,    0    ,   0   ,    0    ,   0   ,    0.015, 	  0   ,    0   ,    0,
-//			0.0000 , +0.00002,0   ,    0 , 		0, 		 0,  	  0,  	   0    ,   0,
-//			-0.00002,0    ,   0   ,    0 , 		0, 		 0,  	  0,  	   0, 	    0,
-//			0,    	 0 ,	  0   ,    0,  	    0,		 0,  	  0,  	   0, 	    0,
-//			0  ,     0    ,   0   ,    0   ,    0    ,   0   ,    0.4 ,   0   ,    0,
-//			0   ,    0   ,    0   ,    0   ,    0    ,   0   ,    0    ,   0.4 ,   0,
-//			0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0    ,   0    ,   0.4
-//	};
-
-	static m_elem kal_gain[12 * 9] = {
-		0.0007f , 0    ,   0    ,   0    ,   0    ,   0    ,   0   ,    0    ,   0,
-		0   ,    0.0007f , 0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0,
-		0   ,    0    ,   0.0007f , 0   ,    0   ,    0   ,    0   ,    0   ,    0,
-		0   ,    0    ,   0   ,    0.015f, 	0   ,    0   ,    0   ,    0   ,    0,
-		0   ,    0   ,    0   ,    0    ,   0.015f, 	 0   ,    0   ,    0   ,    0,
-		0   ,    0    ,   0   ,    0    ,   0   ,    0.015f, 	  0   ,    0   ,    0,
-		0.0000f , +0.00002f, 0   ,    0 , 		0, 		 0,  	  0,  	   0    ,   0,
-		-0.00002f, 0    ,   0   ,    0 , 		0, 		 0,  	  0,  	   0, 	    0,
-		0,    	 0 ,	  0   ,    0,  	    0,		 0,  	  0,  	   0, 	    0,
-		0  ,     0    ,   0   ,    0   ,    0    ,   0   ,    0.7f ,   0   ,    0,
-		0   ,    0   ,    0   ,    0   ,    0    ,   0   ,    0    ,   0.7f ,   0,
-		0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0    ,   0    ,   0.7f
-	};
-	//offset update only correct if not upside down.
-
-#define K (10.0f*TIME_STEP)
-
-	static m_elem kal_gain_start[12 * 9] = {
-		K, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, K, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, K, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, K, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, K, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, K, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, K, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, K, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, K,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 0,
-
-		0, 0, 0, 0, 0, 0, 0, 0, 0
-	};
-
-
-
-	static m_elem kal_x_apriori[12 * 1] =
-		{  };
-
-
-	//---> initial states sind aposteriori!? ---> fehler
-	static m_elem kal_x_aposteriori[12 * 1] =
-	{ 0.0f, 0.0f, -1.0f, 0.6f, 0.0f, 0.8f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
-
-	kalman_init(&attitude_blackmagic_kal, 12, 9, kal_a, kal_c,
-		    kal_gain_start, kal_gain, kal_x_apriori, kal_x_aposteriori, 1000);
-
-}
-
-void attitude_blackmagic(const float_vect3 *accel, const float_vect3 *mag, const float_vect3 *gyro)
-{
-	// Kalman Filter
-
-	//Calculate new linearized A matrix
-	attitude_blackmagic_update_a();
-
-	kalman_predict(&attitude_blackmagic_kal);
-
-	//correction update
-
-	m_elem measurement[9] =
-		{ };
-	m_elem mask[9] =
-	{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f };
-
-	// XXX Hack - stop updating accel if upside down
-
-	if (accel->z > 0) {
-		mask[0] = 0.0f;
-		mask[1] = 0.0f;
-		mask[2] = 0.0f;
-	} else {
-		mask[0] = 1.0f;
-		mask[1] = 1.0f;
-		mask[2] = 1.0f;
-	}
-
-	measurement[0] = accel->x;
-	measurement[1] = accel->y;
-	measurement[2] = accel->z;
-
-	measurement[3] = mag->x;
-	measurement[4] = mag->y;
-	measurement[5] = mag->z;
-
-	measurement[6] = gyro->x;
-	measurement[7] = gyro->y;
-	measurement[8] = gyro->z;
-
-	//Put measurements into filter
-
-
-//	static int j = 0;
-//	if (j >= 3)
-//	{
-//		j = 0;
-//
-//		mask[3]=1;
-//		mask[4]=1;
-//		mask[5]=1;
-//		j=0;
-//
-//	}else{
-//		j++;}
-
-	kalman_correct(&attitude_blackmagic_kal, measurement, mask);
-
-}
-void attitude_blackmagic_get_all(float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b)
-{
-	//debug
-
-	// save outputs
-	float_vect3 kal_acc;
-	float_vect3 kal_mag;
-//	float_vect3 kal_w0, kal_w;
-
-	kal_acc.x = kalman_get_state(&attitude_blackmagic_kal, 0);
-	kal_acc.y = kalman_get_state(&attitude_blackmagic_kal, 1);
-	kal_acc.z = kalman_get_state(&attitude_blackmagic_kal, 2);
-
-	kal_mag.x = kalman_get_state(&attitude_blackmagic_kal, 3);
-	kal_mag.y = kalman_get_state(&attitude_blackmagic_kal, 4);
-	kal_mag.z = kalman_get_state(&attitude_blackmagic_kal, 5);
-
-//	kal_w0.x = kalman_get_state(&attitude_blackmagic_kal, 6);
-//	kal_w0.y = kalman_get_state(&attitude_blackmagic_kal, 7);
-//	kal_w0.z = kalman_get_state(&attitude_blackmagic_kal, 8);
-//
-//	kal_w.x = kalman_get_state(&attitude_blackmagic_kal, 9);
-//	kal_w.y = kalman_get_state(&attitude_blackmagic_kal, 10);
-//	kal_w.z = kalman_get_state(&attitude_blackmagic_kal, 11);
-
-	rates->x = kalman_get_state(&attitude_blackmagic_kal, 9);
-	rates->y = kalman_get_state(&attitude_blackmagic_kal, 10);
-	rates->z = kalman_get_state(&attitude_blackmagic_kal, 11);
-
-
-
-//	kal_w = kal_w;		// XXX hack to silence compiler warning
-//	kal_w0 = kal_w0;	// XXX hack to silence compiler warning
-
-
-
-	//debug_vect("magn", mag);
-
-	//float_vect3 x_n_b, y_n_b, z_n_b;
-	z_n_b->x = -kal_acc.x;
-	z_n_b->y = -kal_acc.y;
-	z_n_b->z = -kal_acc.z;
-	vect_norm(z_n_b);
-	vect_cross_product(z_n_b, &kal_mag, y_n_b);
-	vect_norm(y_n_b);
-
-	vect_cross_product(y_n_b, z_n_b, x_n_b);
-
-
-
-	//save euler angles
-	euler->x = atan2f(z_n_b->y, z_n_b->z);
-	euler->y = -asinf(z_n_b->x);
-	euler->z = atan2f(y_n_b->x, x_n_b->x);
-
-}
diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.h b/apps/px4/attitude_estimator_bm/attitude_bm.h
deleted file mode 100644
index c21b3d6f1..000000000
--- a/apps/px4/attitude_estimator_bm/attitude_bm.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
- * attitude_blackmagic.h
- *
- *  Created on: May 31, 2011
- *      Author: pixhawk
- */
-
-#ifndef attitude_blackmagic_H_
-#define attitude_blackmagic_H_
-
-#include "matrix.h"
-
-void vect_norm(float_vect3 *vect);
-
-void vect_cross_product(const float_vect3 *a, const float_vect3 *b, float_vect3 *c);
-
-void attitude_blackmagic_update_a(void);
-
-void attitude_blackmagic_init(void);
-
-void attitude_blackmagic(const float_vect3 *accel, const float_vect3 *mag, const float_vect3 *gyro);
-
-void attitude_blackmagic_get_all(float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b);
-#endif /* attitude_blackmagic_H_ */
diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
deleted file mode 100644
index 60737a654..000000000
--- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+++ /dev/null
@@ -1,283 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *           Laurens Mackay <mackayl@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 attitude_estimator_bm.c
- * Black Magic Attitude Estimator
- */
-
-
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <unistd.h>
-#include <sys/time.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <drivers/drv_hrt.h>
-#include <string.h>
-#include <poll.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_status.h>
-#include <math.h>
-#include <errno.h>
-
-#include "attitude_bm.h"
-
-static unsigned int loop_interval_alarm = 4500;	// loop interval in microseconds
-
-__EXPORT int attitude_estimator_bm_main(int argc, char *argv[]);
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * user_start
- ****************************************************************************/
-int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b);
-
-int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b)
-{
-	float_vect3 gyro_values;
-	gyro_values.x =  raw->gyro_rad_s[0];
-	gyro_values.y =  raw->gyro_rad_s[1];
-	gyro_values.z =  raw->gyro_rad_s[2];
-
-	float_vect3 accel_values;
-	accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 100;
-	accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 100;
-	accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 100;
-
-	float_vect3 mag_values;
-	mag_values.x = raw->magnetometer_ga[0]*1500.0f;
-	mag_values.y = raw->magnetometer_ga[1]*1500.0f;
-	mag_values.z = raw->magnetometer_ga[2]*1500.0f;
-
-	// static int i = 0;
-
-	// if (i == 500) {
-	// 	printf("[att estim bm] gyro: %8.4f\t%8.4f\t%8.4f\t accel: %8.4f\t%8.4f\t%8.4f\t mag: %8.4f\t%8.4f\t%8.4f\t\n",
-	// 		gyro_values.x, gyro_values.y, gyro_values.z,
-	// 		accel_values.x, accel_values.y, accel_values.z,
-	// 		mag_values.x, mag_values.y, mag_values.z);
-	// 	i = 0;
-	// }
-	// i++;
-
-	attitude_blackmagic(&accel_values, &mag_values, &gyro_values);
-
-	/* read out values */
-	attitude_blackmagic_get_all(euler, rates, x_n_b, y_n_b, z_n_b);
-
-	return OK;
-}
-
-
-int attitude_estimator_bm_main(int argc, char *argv[])
-{
-	// print text
-	printf("Black Magic Attitude Estimator initialized..\n\n");
-	fflush(stdout);
-
-	/* data structures to read euler angles and rotation matrix back */
-	float_vect3 euler = {.x = 0, .y = 0, .z = 0};
-	float_vect3 rates;
-	float_vect3 x_n_b;
-	float_vect3 y_n_b;
-	float_vect3 z_n_b;
-
-	int overloadcounter = 19;
-
-	/* initialize */
-	attitude_blackmagic_init();
-
-	/* store start time to guard against too slow update rates */
-	uint64_t last_run = hrt_absolute_time();
-
-	struct sensor_combined_s sensor_combined_s_local = { .gyro_raw = {0}};
-	struct vehicle_attitude_s att = {.roll = 0.0f, .pitch = 0.0f, .yaw = 0.0f,
-					 .rollspeed = 0.0f, .pitchspeed = 0.0f, .yawspeed = 0.0f,
-					 .R = {0}, .timestamp = 0};
-
-	uint64_t last_data = 0;
-
-	/* subscribe to raw data */
-	int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
-
-	/* rate-limit raw data updates to 200Hz */
-	//orb_set_interval(sub_raw, 5);
-
-	bool hil_enabled = false;
-	bool publishing = false;
-
-	/* advertise attitude */
-	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
-	publishing = true;
-
-	struct pollfd fds[] = {
-		{ .fd = sub_raw,   .events = POLLIN },
-	};
-
-	/* subscribe to system status */
-	struct vehicle_status_s vstatus = {0};
-	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	unsigned int loopcounter = 0;
-
-	uint64_t last_checkstate_stamp = 0;
-
-	/* Main loop*/
-	while (true) {
-
-
-		/* wait for sensor update */
-		int ret = poll(fds, 1, 1000);
-
-		if (ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
-		} else if (ret == 0) {
-			/* XXX this means no sensor data - should be critical or emergency */
-			printf("[attitude estimator bm] WARNING: Not getting sensor data - sensor app running?\n");
-		} else {
-			orb_copy(ORB_ID(sensor_combined), sub_raw, &sensor_combined_s_local);
-
-			uint64_t now = hrt_absolute_time();
-			unsigned int time_elapsed = now - last_run;
-			last_run = now;
-
-			//#if 0
-
-			if (time_elapsed > loop_interval_alarm) {
-				//TODO: add warning, cpu overload here
-				if (overloadcounter == 20) {
-					printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR BLACK MAGIC (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
-					overloadcounter = 0;
-				}
-
-				overloadcounter++;
-			}
-
-			//#endif
-			//			now = hrt_absolute_time();
-			/* filter values */
-			attitude_estimator_bm_update(&sensor_combined_s_local, &euler, &rates, &x_n_b, &y_n_b, &z_n_b);
-
-			//			time_elapsed = hrt_absolute_time() - now;
-			//			if (blubb == 20)
-			//			{
-			//				printf("Estimator: %lu\n", time_elapsed);
-			//				blubb = 0;
-			//			}
-			//			blubb++;
-
-			//		if (last_data > 0 && sensor_combined_s_local.timestamp - last_data > 8000) printf("sensor data missed! (%llu)\n", sensor_combined_s_local.timestamp - last_data);
-
-			//			printf("%llu -> %llu = %llu\n", last_data, sensor_combined_s_local.timestamp, sensor_combined_s_local.timestamp - last_data);
-			// last_data = sensor_combined_s_local.timestamp;
-
-			/*correct yaw */
-			//			euler.z = euler.z + M_PI;
-
-			/* send out */
-
-			att.timestamp = sensor_combined_s_local.timestamp;
-			att.roll = euler.x;
-			att.pitch = euler.y;
-			att.yaw = euler.z;
-
-			if (att.yaw > M_PI_F) {
-				att.yaw -= 2.0f * M_PI_F;
-			}
-
-			if (att.yaw < -M_PI_F) {
-				att.yaw += 2.0f * M_PI_F;
-			}
-
-			att.rollspeed = rates.x;
-			att.pitchspeed = rates.y;
-			att.yawspeed = rates.z;
-
-			att.R[0][0] = x_n_b.x;
-			att.R[0][1] = x_n_b.y;
-			att.R[0][2] = x_n_b.z;
-
-			// Broadcast
-			if (publishing) orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
-		}
-
-
-		// XXX add remaining entries
-
-		if (hrt_absolute_time() - last_checkstate_stamp > 500000) {
-			/* Check HIL state */
-			orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
-			/* switching from non-HIL to HIL mode */
-			//printf("[attitude_estimator_bm] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
-			if (vstatus.flag_hil_enabled && !hil_enabled) {
-				hil_enabled = true;
-				publishing = false;
-				int ret = close(pub_att);
-				printf("Closing attitude: %i \n", ret);
-
-				/* switching from HIL to non-HIL mode */
-
-			} else if (!publishing && !hil_enabled) {
-				/* advertise the topic and make the initial publication */
-				pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
-				hil_enabled = false;
-				publishing = true;
-			}
-			last_checkstate_stamp = hrt_absolute_time();
-		}
-
-		loopcounter++;
-	}
-
-	/* Should never reach here */
-	return 0;
-}
-
-
diff --git a/apps/px4/attitude_estimator_bm/kalman.c b/apps/px4/attitude_estimator_bm/kalman.c
deleted file mode 100644
index e4ea7a417..000000000
--- a/apps/px4/attitude_estimator_bm/kalman.c
+++ /dev/null
@@ -1,115 +0,0 @@
-/*
- * kalman.c
- *
- *  Created on: 01.12.2010
- *      Author: Laurens Mackay
- */
-#include "kalman.h"
-//#include "mavlink_debug.h"
-
-void kalman_init(kalman_t *kalman, int states, int measurements, m_elem a[],
-		 m_elem c[], m_elem gain_start[], m_elem gain[], m_elem x_apriori[],
-		 m_elem x_aposteriori[], int gainfactorsteps)
-{
-	kalman->states = states;
-	kalman->measurements = measurements;
-	kalman->gainfactorsteps = gainfactorsteps;
-	kalman->gainfactor = 0;
-
-	//Create all matrices that are persistent
-	kalman->a = matrix_create(states, states, a);
-	kalman->c = matrix_create(measurements, states, c);
-	kalman->gain_start = matrix_create(states, measurements, gain_start);
-	kalman->gain = matrix_create(states, measurements, gain);
-	kalman->x_apriori = matrix_create(states, 1, x_apriori);
-	kalman->x_aposteriori = matrix_create(states, 1, x_aposteriori);
-}
-
-void kalman_predict(kalman_t *kalman)
-{
-	matrix_mult(kalman->a, kalman->x_aposteriori, kalman->x_apriori);
-}
-
-void kalman_correct(kalman_t *kalman, m_elem measurement_a[], m_elem mask_a[])
-{
-	//create matrices from inputs
-	matrix_t measurement =
-		matrix_create(kalman->measurements, 1, measurement_a);
-	matrix_t mask = matrix_create(kalman->measurements, 1, mask_a);
-
-	//create temporary matrices
-	m_elem gain_start_part_a[KALMAN_MAX_STATES * KALMAN_MAX_MEASUREMENTS] =
-		{ };
-	matrix_t gain_start_part = matrix_create(kalman->states,
-				   kalman->measurements, gain_start_part_a);
-
-	m_elem gain_part_a[KALMAN_MAX_STATES * KALMAN_MAX_MEASUREMENTS] =
-		{ };
-	matrix_t gain_part = matrix_create(kalman->states, kalman->measurements,
-					   gain_part_a);
-
-	m_elem gain_sum_a[KALMAN_MAX_STATES * KALMAN_MAX_MEASUREMENTS] =
-		{ };
-	matrix_t gain_sum = matrix_create(kalman->states, kalman->measurements,
-					  gain_sum_a);
-
-	m_elem error_a[KALMAN_MAX_MEASUREMENTS * 1] =
-		{ };
-	matrix_t error = matrix_create(kalman->measurements, 1, error_a);
-
-	m_elem measurement_estimate_a[KALMAN_MAX_MEASUREMENTS * 1] =
-		{ };
-	matrix_t measurement_estimate = matrix_create(kalman->measurements, 1,
-					measurement_estimate_a);
-
-	m_elem x_update_a[KALMAN_MAX_STATES * 1] =
-		{ };
-	matrix_t x_update = matrix_create(kalman->states, 1, x_update_a);
-
-
-
-	//x(:,i+1)=xapriori+(gainfactor*[M_50(:,1) M(:,2)]+(1-gainfactor)*M_start)*(z-C*xapriori);
-
-
-	//est=C*xapriori;
-	matrix_mult(kalman->c, kalman->x_apriori, measurement_estimate);
-	//error=(z-C*xapriori) = measurement-estimate
-	matrix_sub(measurement, measurement_estimate, error);
-	matrix_mult_element(error, mask, error);
-
-	kalman->gainfactor = kalman->gainfactor * (1.0f - 1.0f
-			     / kalman->gainfactorsteps) + 1.0f * 1.0f / kalman->gainfactorsteps;
-
-
-
-	matrix_mult_scalar(kalman->gainfactor, kalman->gain, gain_part);
-
-	matrix_mult_scalar(1.0f - kalman->gainfactor, kalman->gain_start,
-			   gain_start_part);
-
-	matrix_add(gain_start_part, gain_part, gain_sum);
-
-	//gain*(z-C*xapriori)
-	matrix_mult(gain_sum, error, x_update);
-
-	//xaposteriori = xapriori + update
-
-	matrix_add(kalman->x_apriori, x_update, kalman->x_aposteriori);
-
-
-//	static int i=0;
-//	if(i++==4){
-//		i=0;
-//	float_vect3 out_kal;
-//	out_kal.x = M(gain_sum,0,1);
-////	out_kal_z.x = z_measurement[1];
-//	out_kal.y = M(gain_sum,1,1);
-//	out_kal.z = M(gain_sum,2,1);
-//	debug_vect("out_kal", out_kal);
-//	}
-}
-
-m_elem kalman_get_state(kalman_t *kalman, int state)
-{
-	return M(kalman->x_aposteriori, state, 0);
-}
diff --git a/apps/px4/attitude_estimator_bm/kalman.h b/apps/px4/attitude_estimator_bm/kalman.h
deleted file mode 100644
index 0a6a18505..000000000
--- a/apps/px4/attitude_estimator_bm/kalman.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * kalman.h
- *
- *  Created on: 01.12.2010
- *      Author: Laurens Mackay
- */
-
-#ifndef KALMAN_H_
-#define KALMAN_H_
-
-#include "matrix.h"
-
-#define KALMAN_MAX_STATES 12
-#define KALMAN_MAX_MEASUREMENTS 9
-typedef struct {
-	int states;
-	int measurements;
-	matrix_t a;
-	matrix_t c;
-	matrix_t gain_start;
-	matrix_t gain;
-	matrix_t x_apriori;
-	matrix_t x_aposteriori;
-	float gainfactor;
-	int gainfactorsteps;
-} kalman_t;
-
-void kalman_init(kalman_t *kalman, int states, int measurements, m_elem a[],
-		 m_elem c[], m_elem gain_start[], m_elem gain[], m_elem x_apriori[],
-		 m_elem x_aposteriori[], int gainfactorsteps);
-void kalman_predict(kalman_t *kalman);
-void kalman_correct(kalman_t *kalman, m_elem measurement_a[], m_elem mask_a[]);
-m_elem kalman_get_state(kalman_t *kalman, int state);
-
-#endif /* KALMAN_H_ */
diff --git a/apps/px4/attitude_estimator_bm/matrix.h b/apps/px4/attitude_estimator_bm/matrix.h
deleted file mode 100644
index 613a2d081..000000000
--- a/apps/px4/attitude_estimator_bm/matrix.h
+++ /dev/null
@@ -1,156 +0,0 @@
-/*
- * matrix.h
- *
- *  Created on: 18.11.2010
- *      Author: Laurens Mackay
- */
-
-#ifndef MATRIX_H_
-#define MATRIX_H_
-
-typedef float m_elem;
-
-typedef struct {
-	int rows;
-	int cols;
-	m_elem *a;
-} matrix_t;
-
-typedef struct {
-	float x;
-	float y;
-	float z;
-} float_vect3;
-
-#define M(m,i,j) m.a[m.cols*i+j]
-
-///*  This is the datatype used for the math and non-type specific ops.  */
-//
-//matrix_t matrix_create(const int rows, const int cols, m_elem * a);
-///*  matrix C = matrix A + matrix B , both of size m x n   */
-//void matrix_add(const matrix_t a, const matrix_t b, matrix_t c);
-//
-///*  matrix C = matrix A - matrix B , all of size m x n  */
-//void matrix_sub(const matrix_t a, const matrix_t b, matrix_t c);
-//
-///*  matrix C = matrix A x matrix B , A(a_rows x a_cols), B(a_cols x b_cols) */
-//void matrix_mult(const matrix_t a, const matrix_t b, matrix_t c);
-//
-//void matrix_mult_scalar(const float f, const matrix_t a, matrix_t c);
-//
-//void matrix_mult_element(const matrix_t a, const matrix_t b, matrix_t c);
-//
-///* matrix C = A*B'*/
-//void matrix_mult_trans(const matrix_t a, const matrix_t b, matrix_t c);
-
-
-static inline matrix_t matrix_create(const int rows, const int cols, m_elem *a)
-{
-	matrix_t ret;
-	ret.rows = rows;
-	ret.cols = cols;
-	ret.a = a;
-	return ret;
-}
-
-static inline void matrix_add(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols || b.rows != c.rows || b.cols
-	    != c.cols) {
-		//debug_message_buffer("matrix_add: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = M(a, i, j) + M(b, i, j);
-		}
-
-	}
-}
-
-static inline void matrix_sub(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols || b.rows != c.rows || b.cols
-	    != c.cols) {
-		//debug_message_buffer("matrix_sub: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = M(a, i, j) - M(b, i, j);
-		}
-
-	}
-}
-
-static inline void matrix_mult(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || b.cols != c.cols || a.cols != b.rows) {
-		//debug_message_buffer("matrix_mult: Dimension mismatch");
-	}
-
-	for (int i = 0; i < a.rows; i++) {
-		for (int j = 0; j < b.cols; j++) {
-			M(c, i, j) = 0;
-
-			for (int k = 0; k < a.cols; k++) {
-				M(c, i, j) += M(a, i, k) * M(b, k, j);
-			}
-		}
-
-	}
-}
-
-static inline void matrix_mult_trans(const matrix_t a, const matrix_t b, matrix_t c)
-{
-
-	if (a.rows != c.rows || b.rows != c.cols || a.cols != b.cols) {
-		//debug_message_buffer("matrix_mult: Dimension mismatch");
-	}
-
-	for (int i = 0; i < a.rows; i++) {
-		for (int j = 0; j < b.cols; j++) {
-			M(c, i, j) = 0;
-
-			for (int k = 0; k < a.cols; k++) {
-				M(c, i, j) += M(a, i, k) * M(b, j, k);
-			}
-		}
-
-	}
-
-}
-
-static inline void matrix_mult_scalar(const float f, const matrix_t a, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols) {
-		//debug_message_buffer("matrix_mult_scalar: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = f * M(a, i, j);
-		}
-
-	}
-}
-
-
-static inline void matrix_mult_element(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols || b.rows != c.rows || b.cols
-	    != c.cols) {
-		//debug_message_buffer("matrix_mult_element: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = M(a, i, j) * M(b, i, j);
-		}
-
-	}
-}
-
-
-
-#endif /* MATRIX_H_ */
diff --git a/apps/px4/ground_estimator/Makefile b/apps/px4/ground_estimator/Makefile
deleted file mode 100644
index b44d871c6..000000000
--- a/apps/px4/ground_estimator/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 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.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = ground_estimator
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/px4/ground_estimator/ground_estimator.c b/apps/px4/ground_estimator/ground_estimator.c
deleted file mode 100644
index ccf9ee3ec..000000000
--- a/apps/px4/ground_estimator/ground_estimator.c
+++ /dev/null
@@ -1,180 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
- *
- * 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 ground_estimator.c
- * ground_estimator application example for PX4 autopilot
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <poll.h>
-#include <string.h>
-#include <stdlib.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/debug_key_value.h>
-
-
-static bool thread_should_exit = false;		/**< ground_estimator exit flag */
-static bool thread_running = false;		/**< ground_estimator status flag */
-static int ground_estimator_task;				/**< Handle of ground_estimator task / thread */
-
-/**
- * ground_estimator management function.
- */
-__EXPORT int ground_estimator_main(int argc, char *argv[]);
-
-/**
- * Mainloop of ground_estimator.
- */
-int ground_estimator_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-int ground_estimator_thread_main(int argc, char *argv[]) {
-
-	printf("[ground_estimator] starting\n");
-
-	/* subscribe to raw data */
-	int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
-
-	/* advertise debug value */
-	struct debug_key_value_s dbg = { .key = "posx", .value = 0.0f };
-	orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
-
-	float position[3] = {};
-	float velocity[3] = {};
-
-	uint64_t last_time = 0;
-
-	struct pollfd fds[] = {
-		{ .fd = sub_raw,   .events = POLLIN },
-	};
-
-	while (!thread_should_exit) {
-		
-		/* wait for sensor update */
-		int ret = poll(fds, 1, 1000);
-
-		if (ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
-		} else if (ret == 0) {
-			/* XXX this means no sensor data - should be critical or emergency */
-			printf("[ground estimator bm] WARNING: Not getting sensor data - sensor app running?\n");
-		} else {
-			struct sensor_combined_s s;
-			orb_copy(ORB_ID(sensor_combined), sub_raw, &s);
-
-			float dt = ((float)(s.timestamp - last_time)) / 1000000.0f;
-
-			/* Integration */
-			position[0] += velocity[0] * dt;
-			position[1] += velocity[1] * dt;
-			position[2] += velocity[2] * dt;
-
-			velocity[0] += velocity[0] * 0.01f + 0.99f * s.accelerometer_m_s2[0] * dt;
-			velocity[1] += velocity[1] * 0.01f + 0.99f * s.accelerometer_m_s2[1] * dt;
-			velocity[2] += velocity[2] * 0.01f + 0.99f * s.accelerometer_m_s2[2] * dt;
-
-			dbg.value = position[0];
-
-			orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
-		}
-
-	}
-
-	printf("[ground_estimator] exiting.\n");
-
-	return 0;
-}
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: ground_estimator {start|stop|status} [-p <additional params>]\n\n");
-	exit(1);
-}
-
-/**
- * The ground_estimator 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 ground_estimator_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("ground_estimator already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		ground_estimator_task = task_create("ground_estimator", SCHED_PRIORITY_DEFAULT, 4096, ground_estimator_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("\tground_estimator is running\n");
-		} else {
-			printf("\tground_estimator not started\n");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index cfd86aac1..1c717e904 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -76,11 +76,9 @@ CONFIGURED_APPS += sensors
 CONFIGURED_APPS += ardrone_interface
 CONFIGURED_APPS += multirotor_att_control
 CONFIGURED_APPS += multirotor_pos_control
-CONFIGURED_APPS += px4/attitude_estimator_bm
 CONFIGURED_APPS += fixedwing_control
 CONFIGURED_APPS += position_estimator
 CONFIGURED_APPS += attitude_estimator_ekf
-CONFIGURED_APPS += px4/ground_estimator
 
 # Hacking tools
 #CONFIGURED_APPS += system/i2c