Deleted old cruft

10 files changed, 0 insertions, 1199 deletions

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);
-}