Deleted old cruft

16 files changed, 0 insertions, 1360 deletions

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>

-