Move the 'tests' app to the new world.

23 files changed, 0 insertions, 3640 deletions

diff --git a/apps/px4/tests/.context b/apps/px4/tests/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/px4/tests/.context
+++ /dev/null
diff --git a/apps/px4/tests/Makefile b/apps/px4/tests/Makefile
deleted file mode 100644
index e27222b9d..000000000
--- a/apps/px4/tests/Makefile
+++ /dev/null
@@ -1,44 +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 assorted test cases
-#
-
-APPNAME		 = tests
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 12000
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
\ No newline at end of file
diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c
deleted file mode 100644
index 030ac6e23..000000000
--- a/apps/px4/tests/test_adc.c
+++ /dev/null
@@ -1,94 +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.
- *
- ****************************************************************************/
-
-/**
- * @file test_adc.c
- * Test for the analog to digital converter.
- */
-
-#include <nuttx/config.h>
-#include <nuttx/arch.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/spi.h>
-
-#include "tests.h"
-
-#include <nuttx/analog/adc.h>
-#include <drivers/drv_adc.h>
-#include <systemlib/err.h>
-
-int test_adc(int argc, char *argv[])
-{
-	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
-
-	if (fd < 0) {
-		warnx("ERROR: can't open ADC device");
-		return 1;
-	}
-
-	for (unsigned i = 0; i < 5; i++) {
-		/* make space for a maximum of eight channels */
-		struct adc_msg_s data[8];
-		/* read all channels available */
-		ssize_t count = read(fd, data, sizeof(data));
-
-		if (count < 0)
-			goto errout_with_dev;
-
-		unsigned channels = count / sizeof(data[0]);
-
-		for (unsigned j = 0; j < channels; j++) {
-			printf("%d: %u  ", data[j].am_channel, data[j].am_data);
-		}
-
-		printf("\n");
-		usleep(150000);
-	}
-
-	warnx("\t ADC test successful.\n");
-
-errout_with_dev:
-
-	if (fd != 0) close(fd);
-
-	return OK;
-}
diff --git a/apps/px4/tests/test_bson.c b/apps/px4/tests/test_bson.c
deleted file mode 100644
index 6130fe763..000000000
--- a/apps/px4/tests/test_bson.c
+++ /dev/null
@@ -1,244 +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.
- *
- ****************************************************************************/
-
-/**
- * @file tests_bson.c
- *
- * Tests for the bson en/decoder
- */
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-
-#include <systemlib/err.h>
-#include <systemlib/bson/tinybson.h>
-
-#include "tests.h"
-
-static const bool sample_bool = true;
-static const int32_t sample_small_int = 123;
-static const int64_t sample_big_int = (int64_t)INT_MAX + 123LL;
-static const double sample_double = 2.5f;
-static const char *sample_string = "this is a test";
-static const uint8_t sample_data[256] = {0};
-//static const char *sample_filename = "/fs/microsd/bson.test";
-
-static int
-encode(bson_encoder_t encoder)
-{
-	if (bson_encoder_append_bool(encoder, "bool1", sample_bool) != 0)
-		warnx("FAIL: encoder: append bool failed");
-	if (bson_encoder_append_int(encoder, "int1", sample_small_int) != 0)
-		warnx("FAIL: encoder: append int failed");
-	if (bson_encoder_append_int(encoder, "int2", sample_big_int) != 0)
-		warnx("FAIL: encoder: append int failed");
-	if (bson_encoder_append_double(encoder, "double1", sample_double) != 0)
-		warnx("FAIL: encoder: append double failed");
-	if (bson_encoder_append_string(encoder, "string1", sample_string) != 0)
-		warnx("FAIL: encoder: append string failed");
-	if (bson_encoder_append_binary(encoder, "data1", BSON_BIN_BINARY, sizeof(sample_data), sample_data) != 0)
-		warnx("FAIL: encoder: append data failed");
-
-	bson_encoder_fini(encoder);
-
-	return 0;
-}
-
-static int
-decode_callback(bson_decoder_t decoder, void *private, bson_node_t node)
-{
-	unsigned len;
-
-	if (!strcmp(node->name, "bool1")) {
-		if (node->type != BSON_BOOL) {
-			warnx("FAIL: decoder: bool1 type %d, expected %d", node->type, BSON_BOOL);
-			return 1;
-		}
-		if (node->b != sample_bool) {
-			warnx("FAIL: decoder: bool1 value %s, expected %s", 
-				(node->b ? "true" : "false"),
-				(sample_bool ? "true" : "false"));
-			return 1;
-		}
-		warnx("PASS: decoder: bool1");
-		return 1;
-	}
-	if (!strcmp(node->name, "int1")) {
-		if (node->type != BSON_INT32) {
-			warnx("FAIL: decoder: int1 type %d, expected %d", node->type, BSON_INT32);
-			return 1;
-		}
-		if (node->i != sample_small_int) {
-			warnx("FAIL: decoder: int1 value %lld, expected %d", node->i, sample_small_int);
-			return 1;
-		}
-		warnx("PASS: decoder: int1");
-		return 1;
-	}
-	if (!strcmp(node->name, "int2")) {
-		if (node->type != BSON_INT64) {
-			warnx("FAIL: decoder: int2 type %d, expected %d", node->type, BSON_INT64);
-			return 1;
-		}
-		if (node->i != sample_big_int) {
-			warnx("FAIL: decoder: int2 value %lld, expected %lld", node->i, sample_big_int);
-			return 1;
-		}
-		warnx("PASS: decoder: int2");
-		return 1;
-	}
-	if (!strcmp(node->name, "double1")) {
-		if (node->type != BSON_DOUBLE) {
-			warnx("FAIL: decoder: double1 type %d, expected %d", node->type, BSON_DOUBLE);
-			return 1;
-		}
-		if (node->d != sample_double) {
-			warnx("FAIL: decoder: double1 value %f, expected %f", node->d, sample_double);
-			return 1;
-		}
-		warnx("PASS: decoder: double1");
-		return 1;
-	}
-	if (!strcmp(node->name, "string1")) {
-		if (node->type != BSON_STRING) {
-			warnx("FAIL: decoder: string1 type %d, expected %d", node->type, BSON_STRING);
-			return 1;
-		}
-
-		len = bson_decoder_data_pending(decoder);
-
-		if (len != strlen(sample_string) + 1) {
-			warnx("FAIL: decoder: string1 length %d wrong, expected %d", len, strlen(sample_string) + 1);
-			return 1;
-		}
-
-		char sbuf[len];
-
-		if (bson_decoder_copy_data(decoder, sbuf)) {
-			warnx("FAIL: decoder: string1 copy failed");
-			return 1;
-		}
-		if (bson_decoder_data_pending(decoder) != 0) {
-			warnx("FAIL: decoder: string1 copy did not exhaust all data");
-			return 1;
-		}
-		if (sbuf[len - 1] != '\0') {
-			warnx("FAIL: decoder: string1 not 0-terminated");
-			return 1;
-		}
-		if (strcmp(sbuf, sample_string)) {
-			warnx("FAIL: decoder: string1 value '%s', expected '%s'", sbuf, sample_string);
-			return 1;
-		}
-		warnx("PASS: decoder: string1");
-		return 1;
-	}
-	if (!strcmp(node->name, "data1")) {
-		if (node->type != BSON_BINDATA) {
-			warnx("FAIL: decoder: data1 type %d, expected %d", node->type, BSON_BINDATA);
-			return 1;
-		}
-
-		len = bson_decoder_data_pending(decoder);
-
-		if (len != sizeof(sample_data)) {
-			warnx("FAIL: decoder: data1 length %d, expected %d", len, sizeof(sample_data));
-			return 1;
-		}
-		
-		if (node->subtype != BSON_BIN_BINARY) {
-			warnx("FAIL: decoder: data1 subtype %d, expected %d", node->subtype, BSON_BIN_BINARY);
-			return 1;
-		}
-
-		uint8_t dbuf[len];
-
-		if (bson_decoder_copy_data(decoder, dbuf)) {
-			warnx("FAIL: decoder: data1 copy failed");
-			return 1;
-		}
-		if (bson_decoder_data_pending(decoder) != 0) {
-			warnx("FAIL: decoder: data1 copy did not exhaust all data");
-			return 1;
-		}
-		if (memcmp(sample_data, dbuf, len)) {
-			warnx("FAIL: decoder: data1 compare fail");
-			return 1;
-		}
-		warnx("PASS: decoder: data1");
-		return 1;
-	}
-
-	if (node->type != BSON_EOO)
-		warnx("FAIL: decoder: unexpected node name '%s'", node->name);
-	return 1;
-}
-
-static void
-decode(bson_decoder_t decoder)
-{
-	int result;
-
-	do {
-		result = bson_decoder_next(decoder);
-	} while (result > 0);
-}
-
-int
-test_bson(int argc, char *argv[])
-{
-	struct bson_encoder_s encoder;
-	struct bson_decoder_s decoder;
-	void *buf;
-	int len;
-
-	/* encode data to a memory buffer */
-	if (bson_encoder_init_buf(&encoder, NULL, 0))
-		errx(1, "FAIL: bson_encoder_init_buf");
-	encode(&encoder);
-	len = bson_encoder_buf_size(&encoder);
-	if (len <= 0)
-		errx(1, "FAIL: bson_encoder_buf_len");
-	buf = bson_encoder_buf_data(&encoder);
-	if (buf == NULL)
-		errx(1, "FAIL: bson_encoder_buf_data");
-
-	/* now test-decode it */
-	if (bson_decoder_init_buf(&decoder, buf, len, decode_callback, NULL))
-		errx(1, "FAIL: bson_decoder_init_buf");
-	decode(&decoder);
-	free(buf);
-
-	return OK;
-}
\ No newline at end of file
diff --git a/apps/px4/tests/test_float.c b/apps/px4/tests/test_float.c
deleted file mode 100644
index 4921c9bbb..000000000
--- a/apps/px4/tests/test_float.c
+++ /dev/null
@@ -1,283 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file tests_float.c
- * Floating point tests
- */
-
-#include <nuttx/config.h>
-#include <sys/types.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include "tests.h"
-#include <math.h>
-#include <float.h>
-
-typedef union {
-	float f;
-	double d;
-	uint8_t b[8];
-} test_float_double_t;
-
-int test_float(int argc, char *argv[])
-{
-	int ret = 0;
-
-	printf("\n--- SINGLE PRECISION TESTS ---\n");
-	printf("The single precision test involves calls to fabsf(),\nif test fails check this function as well.\n\n");
-
-	float f1 = 1.55f;
-
-	float sinf_zero = sinf(0.0f);
-	float sinf_one = sinf(1.0f);
-	float sqrt_two = sqrt(2.0f);
-
-	if (sinf_zero == 0.0f) {
-		printf("\t success: sinf(0.0f) == 0.0f\n");
-
-	} else {
-		printf("\t FAIL: sinf(0.0f) != 0.0f, result: %8.4f\n", (double)sinf_zero);
-		ret = -4;
-	}
-
-	fflush(stdout);
-
-	if (fabsf((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON) {
-		printf("\t success: sinf(1.0f) == 0.84147f\n");
-
-	} else {
-		printf("\t FAIL: sinf(1.0f) != 0.84147f, result: %8.4f\n", (double)sinf_one);
-		ret = -1;
-	}
-
-	fflush(stdout);
-
-	float asinf_one = asinf(1.0f);
-
-	if (fabsf((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f) {
-		printf("\t success: asinf(1.0f) == 1.57079f\n");
-
-	} else {
-		printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one);
-		ret = -1;
-	}
-
-	fflush(stdout);
-
-	float cosf_one = cosf(1.0f);
-
-	if (fabsf((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON) {
-		printf("\t success: cosf(1.0f) == 0.54030f\n");
-
-	} else {
-		printf("\t FAIL: cosf(1.0f) != 0.54030f, result: %8.4f\n", (double)cosf_one);
-		ret = -1;
-	}
-
-	fflush(stdout);
-
-
-	float acosf_one = acosf(1.0f);
-
-	if (fabsf((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON) {
-		printf("\t success: acosf(1.0f) == 0.0f\n");
-
-	} else {
-		printf("\t FAIL: acosf(1.0f) != 0.0f, result: %8.4f\n", (double)acosf_one);
-		ret = -1;
-	}
-
-	fflush(stdout);
-
-
-	float sinf_zero_one = sinf(0.1f);
-
-	if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
-		printf("\t success: sinf(0.1f) == 0.09983f\n");
-
-	} else {
-		printf("\t FAIL: sinf(0.1f) != 0.09983f, result: %8.4f\n", (double)sinf_zero_one);
-		ret = -2;
-	}
-
-	if (sqrt_two == 1.41421356f) {
-		printf("\t success: sqrt(2.0f) == 1.41421f\n");
-
-	} else {
-		printf("\t FAIL: sqrt(2.0f) != 1.41421f, result: %8.4f\n", (double)sinf_zero_one);
-		ret = -3;
-	}
-
-	float atan2f_ones = atan2(1.0f, 1.0f);
-
-	if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < FLT_EPSILON) {
-		printf("\t success: atan2f(1.0f, 1.0f) == 0.78539f\n");
-
-	} else {
-		printf("\t FAIL: atan2f(1.0f, 1.0f) != 0.78539f, result: %8.4f\n", (double)atan2f_ones);
-		ret = -4;
-	}
-
-	char sbuf[30];
-	sprintf(sbuf, "%8.4f", 0.553415f);
-
-	if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
-		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
-		&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
-		printf("\t success: printf(\"%%8.4f\", 0.553415f) == %8.4f\n", (double)0.553415f);
-	} else {
-		printf("\t FAIL: printf(\"%%8.4f\", 0.553415f) != \"  0.5534\", result: %s\n", sbuf);
-		ret = -5;
-	}
-
-	sprintf(sbuf, "%8.4f", -0.553415f);
-
-	if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' &&
-		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
-		&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
-		printf("\t success: printf(\"%%8.4f\", -0.553415f) == %8.4f\n", (double)-0.553415f);
-	} else {
-		printf("\t FAIL: printf(\"%%8.4f\", -0.553415f) != \" -0.5534\", result: %s\n", sbuf);
-		ret = -6;
-	}
-
-
-
-
-
-	printf("\n--- DOUBLE PRECISION TESTS ---\n");
-
-	double d1 = 1.0111;
-	double d2 = 2.0;
-
-	double d1d2 = d1 * d2;
-
-	if (d1d2 == 2.022200000000000219557705349871) {
-		printf("\t success: 1.0111 * 2.0 == 2.0222\n");
-
-	} else {
-		printf("\t FAIL: 1.0111 * 2.0 != 2.0222, result: %8.4f\n", d1d2);
-		ret = -7;
-	}
-
-	fflush(stdout);
-
-	// Assign value of f1 to d1
-	d1 = f1;
-
-	if (f1 == (float)d1) {
-		printf("\t success: (float) 1.55f == 1.55 (double)\n");
-
-	} else {
-		printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1);
-		ret = -8;
-	}
-
-	fflush(stdout);
-
-
-	double sin_zero = sin(0.0);
-	double sin_one = sin(1.0);
-	double atan2_ones = atan2(1.0, 1.0);
-
-	if (sin_zero == 0.0) {
-		printf("\t success: sin(0.0) == 0.0\n");
-
-	} else {
-		printf("\t FAIL: sin(0.0) != 0.0, result: %8.4f\n", sin_zero);
-		ret = -9;
-	}
-
-	if (sin_one == 0.841470984807896504875657228695) {
-		printf("\t success: sin(1.0) == 0.84147098480\n");
-
-	} else {
-		printf("\t FAIL: sin(1.0) != 1.0, result: %8.4f\n", sin_one);
-		ret = -10;
-	}
-
-	if (atan2_ones != 0.785398) {
-		printf("\t success: atan2(1.0, 1.0) == 0.785398\n");
-
-	} else {
-		printf("\t FAIL: atan2(1.0, 1.0) != 0.785398, result: %8.4f\n", atan2_ones);
-		ret = -11;
-	}
-
-	printf("\t testing pow() with magic value\n");
-	printf("\t   (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));\n");
-	fflush(stdout);
-	usleep(20000);
-	double powres = (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));
-	printf("\t success: result: %8.4f\n", (double)powres);
-
-	sprintf(sbuf, "%8.4f", 0.553415);
-
-	if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
-		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
-		&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
-		printf("\t success: printf(\"%%8.4f\", 0.553415) == %8.4f\n", 0.553415);
-	} else {
-		printf("\t FAIL: printf(\"%%8.4f\", 0.553415) != \"  0.5534\", result: %s\n", sbuf);
-		ret = -12;
-	}
-
-	sprintf(sbuf, "%8.4f", -0.553415);
-
-	if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' &&
-		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
-		&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
-		printf("\t success: printf(\"%%8.4f\", -0.553415) == %8.4f\n", -0.553415);
-	} else {
-		printf("\t FAIL: printf(\"%%8.4f\", -0.553415) != \" -0.5534\", result: %s\n", sbuf);
-		ret = -13;
-	}
-
-
-	if (ret == 0) {
-		printf("\n SUCCESS: All float and double tests passed.\n");
-
-	} else {
-		printf("\n FAIL: One or more tests failed.\n");
-	}
-
-	printf("\n");
-
-	return ret;
-}
diff --git a/apps/px4/tests/test_gpio.c b/apps/px4/tests/test_gpio.c
deleted file mode 100644
index ab536d956..000000000
--- a/apps/px4/tests/test_gpio.c
+++ /dev/null
@@ -1,115 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_gpio.c
- *
- *  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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/analog/adc.h>
-
-#include "tests.h"
-
-#include <drivers/drv_gpio.h>
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_gpio
- ****************************************************************************/
-
-int test_gpio(int argc, char *argv[])
-{
-	int		fd;
-	int		ret = 0;
-
-	fd = open(GPIO_DEVICE_PATH, 0);
-
-	if (fd < 0) {
-		printf("GPIO: open fail\n");
-		return ERROR;
-	}
-
-	/* set all GPIOs to default state */
-	ioctl(fd, GPIO_RESET, ~0);
-
-
-	/* XXX need to add some GPIO waving stuff here */
-
-
-	/* Go back to default */
-	ioctl(fd, GPIO_RESET, ~0);
-
-	printf("\t GPIO test successful.\n");
-
-	return ret;
-}
diff --git a/apps/px4/tests/test_hott_telemetry.c b/apps/px4/tests/test_hott_telemetry.c
deleted file mode 100644
index 270dc3857..000000000
--- a/apps/px4/tests/test_hott_telemetry.c
+++ /dev/null
@@ -1,240 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.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 test_hott_telemetry.c
- *
- * Tests the Graupner HoTT telemetry support.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <drivers/drv_gpio.h>
-#include <nuttx/config.h>
-#include <sys/types.h>
-#include <systemlib/err.h>
-
-#include <debug.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <termios.h>
-#include <unistd.h>
-
-#include "tests.h"
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-static int open_uart(const char *device)
-{
-	/* baud rate */
-	int speed = B19200;
-
-	/* open uart */
-	int uart = open(device, O_RDWR | O_NOCTTY);
-
-	if (uart < 0) {
-		errx(1, "FAIL: Error opening port");
-		return ERROR;
-	}
-
-	/* Try to set baud rate */
-	struct termios uart_config;
-
-	/* Fill the struct for the new configuration */
-	tcgetattr(uart, &uart_config);
-
-	/* Clear ONLCR flag (which appends a CR for every LF) */
-	uart_config.c_oflag &= ~ONLCR;
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		errx(1, "FAIL: Error setting baudrate / termios config for cfsetispeed, cfsetospeed");
-		return ERROR;
-	}
-
-	if (tcsetattr(uart, TCSANOW, &uart_config) < 0) {
-		errx(1, "FAIL: Error setting baudrate / termios config for tcsetattr");
-		return ERROR;
-	}
-
-	return uart;
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_hott_telemetry
- ****************************************************************************/
-
-int test_hott_telemetry(int argc, char *argv[])
-{
-	warnx("HoTT Telemetry Test Requirements:");
-	warnx("- Radio on and Electric Air. Mod on (telemetry -> sensor select).");
-	warnx("- Receiver telemetry port must be in telemetry mode.");
-	warnx("- Connect telemetry wire to /dev/ttyS1 (USART2).");
-	warnx("Testing...");
-
-	const char device[] = "/dev/ttyS1";
-	int fd = open_uart(device);
-
-	if (fd < 0) {
-		close(fd);
-		return ERROR;
-	}
-
-	/* Activate single wire mode */
-	ioctl(fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
-
-	char send = 'a';
-	write(fd, &send, 1);
-
-	/* Since TX and RX are now connected we should be able to read in what we wrote */
-	const int timeout = 1000;
-	struct pollfd fds[] = { { .fd = fd, .events = POLLIN } };
-
-	if (poll(fds, 1, timeout) == 0) {
-		errx(1, "FAIL: Could not read sent data.");
-	}
-
-	char receive;
-	read(fd, &receive, 1);
-	warnx("PASS: Single wire enabled. Sent %x and received %x", send, receive);
-
-
-	/* Attempt to read HoTT poll messages from the HoTT receiver */
-	int received_count = 0;
-	int valid_count = 0;
-	const int max_polls = 5;
-	uint8_t byte;
-
-	for (; received_count < 5; received_count++) {
-		if (poll(fds, 1, timeout) == 0) {
-			errx(1, "FAIL: Could not read sent data. Is your HoTT receiver plugged in on %s?", device);
-			break;
-
-		} else {
-			read(fd, &byte, 1);
-
-			if (byte == 0x80) {
-				valid_count++;
-			}
-
-			/* Read the device ID being polled */
-			read(fd, &byte, 1);
-		}
-	}
-
-	if (received_count > 0 && valid_count > 0) {
-		if (received_count == max_polls && valid_count == max_polls) {
-			warnx("PASS: Received %d out of %d valid byte pairs from the HoTT receiver device.", received_count, max_polls);
-
-		} else {
-			warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, max_polls, valid_count);
-		}
-
-	} else {
-		/* Let's work out what went wrong */
-		if (received_count == 0) {
-			errx(1, "FAIL: Could not read any polls from HoTT receiver device.");
-		}
-
-		if (valid_count == 0) {
-			errx(1, "FAIL: Received unexpected values from the HoTT receiver device.");
-		}
-	}
-
-
-	/* Attempt to send a HoTT response messages */
-	uint8_t response[] = {0x7c, 0x8e, 0x00, 0xe0, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, \
-			      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \
-			      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf4, 0x01, 0x00, 0x00, \
-			      0x19, 0x00, 0x00, 0x00, 0x30, 0x75, 0x78, 0x00, 0x00, 0x00, \
-			      0x00, 0x00, 0x00, 0x7d, 0x12
-			     };
-
-	usleep(5000);
-
-	for (unsigned int i = 0; i < sizeof(response); i++) {
-		write(fd, &response[i], 1);
-		usleep(1000);
-	}
-
-	warnx("PASS: Response sent to the HoTT receiver device. Voltage should now show 2.5V.");
-
-
-	/* Disable single wire */
-	ioctl(fd, TIOCSSINGLEWIRE, ~SER_SINGLEWIRE_ENABLED);
-
-	write(fd, &send, 1);
-
-	/* We should timeout as there will be nothing to read (TX and RX no longer connected) */
-	if (poll(fds, 1, timeout) == 0) {
-		errx(1, "FAIL: timeout expected.");
-	}
-
-	warnx("PASS: Single wire disabled.");
-
-	close(fd);
-	exit(0);
-}
diff --git a/apps/px4/tests/test_hrt.c b/apps/px4/tests/test_hrt.c
deleted file mode 100644
index f21dd115b..000000000
--- a/apps/px4/tests/test_hrt.c
+++ /dev/null
@@ -1,218 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_hrt.c
- *
- *  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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-#include <sys/time.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <time.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_tone_alarm.h>
-
-#include <nuttx/spi.h>
-
-#include "tests.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-extern uint16_t ppm_buffer[];
-extern unsigned ppm_decoded_channels;
-extern uint16_t ppm_edge_history[];
-extern uint16_t ppm_pulse_history[];
-
-int test_ppm(int argc, char *argv[])
-{
-#ifdef CONFIG_HRT_PPM
-	unsigned i;
-
-	printf("channels: %u\n", ppm_decoded_channels);
-
-	for (i = 0; i < ppm_decoded_channels; i++)
-		printf("  %u\n", ppm_buffer[i]);
-
-	printf("edges\n");
-
-	for (i = 0; i < 32; i++)
-		printf("  %u\n", ppm_edge_history[i]);
-
-	printf("pulses\n");
-
-	for (i = 0; i < 32; i++)
-		printf("  %u\n", ppm_pulse_history[i]);
-
-	fflush(stdout);
-#else
-	printf("PPM not configured\n");
-#endif
-	return 0;
-}
-
-int test_tone(int argc, char *argv[])
-{
-	int fd, result;
-	unsigned long tone;
-
-	fd = open("/dev/tone_alarm", O_WRONLY);
-
-	if (fd < 0) {
-		printf("failed opening /dev/tone_alarm\n");
-		goto out;
-	}
-
-	tone = 1;
-
-	if (argc == 2)
-		tone = atoi(argv[1]);
-
-	if (tone  == 0) {
-		result = ioctl(fd, TONE_SET_ALARM, 0);
-
-		if (result < 0) {
-			printf("failed clearing alarms\n");
-			goto out;
-
-		} else {
-			printf("Alarm stopped.\n");
-		}
-
-	} else {
-		result = ioctl(fd, TONE_SET_ALARM, 0);
-
-		if (result < 0) {
-			printf("failed clearing alarms\n");
-			goto out;
-		}
-
-		result = ioctl(fd, TONE_SET_ALARM, tone);
-
-		if (result < 0) {
-			printf("failed setting alarm %lu\n", tone);
-
-		} else {
-			printf("Alarm %lu (disable with: tests tone 0)\n", tone);
-		}
-	}
-
-out:
-
-	if (fd >= 0)
-		close(fd);
-
-	return 0;
-}
-
-/****************************************************************************
- * Name: test_hrt
- ****************************************************************************/
-
-int test_hrt(int argc, char *argv[])
-{
-	struct hrt_call call;
-	hrt_abstime prev, now;
-	int i;
-	struct timeval tv1, tv2;
-
-	printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per half second\n");
-
-	for (i = 0; i < 10; i++) {
-		prev = hrt_absolute_time();
-		gettimeofday(&tv1, NULL);
-		usleep(500000);
-		now = hrt_absolute_time();
-		gettimeofday(&tv2, NULL);
-		printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
-		       (unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec,
-		       (unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec,
-		       (unsigned long)(hrt_absolute_time() - prev));
-		fflush(stdout);
-	}
-
-	usleep(1000000);
-
-	printf("one-second ticks\n");
-
-	for (i = 0; i < 10; i++) {
-		hrt_call_after(&call, 1000000, NULL, NULL);
-
-		while (!hrt_called(&call)) {
-			usleep(1000);
-		}
-
-		printf("tick\n");
-		fflush(stdout);
-	}
-
-	return 0;
-}
diff --git a/apps/px4/tests/test_int.c b/apps/px4/tests/test_int.c
deleted file mode 100644
index c59cee7b7..000000000
--- a/apps/px4/tests/test_int.c
+++ /dev/null
@@ -1,149 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_gpio.c
- *
- *  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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "tests.h"
-
-#include <math.h>
-#include <float.h>
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
-typedef union {
-	int32_t i;
-	int64_t l;
-	uint8_t b[8];
-} test_32_64_t;
-
-int test_int(int argc, char *argv[])
-{
-	int ret = 0;
-
-	printf("\n--- 64 BIT MATH TESTS ---\n");
-
-	int64_t large = 354156329598;
-
-	int64_t calc = large * 5;
-
-	if (calc == 1770781647990) {
-		printf("\t success: 354156329598 * 5 == %lld\n", calc);
-
-	} else {
-		printf("\t FAIL: 354156329598 * 5 != %lld\n", calc);
-		ret = -1;
-	}
-
-	fflush(stdout);
-
-
-
-
-
-	printf("\n--- 32 BIT / 64 BIT MIXED MATH TESTS ---\n");
-
-
-	int32_t small = 50;
-	int32_t large_int = 2147483647; // MAX INT value
-
-	uint64_t small_times_large = large_int * (uint64_t)small;
-
-	if (small_times_large == 107374182350) {
-		printf("\t success: 64bit calculation: 50 * 2147483647 (max int val) == %lld\n", small_times_large);
-
-	} else {
-		printf("\t FAIL: 50 * 2147483647 != %lld, 64bit cast might fail\n", small_times_large);
-		ret = -1;
-	}
-
-	fflush(stdout);
-
-	if (ret == 0) {
-		printf("\n SUCCESS: All float and double tests passed.\n");
-
-	} else {
-		printf("\n FAIL: One or more tests failed.\n");
-	}
-
-	printf("\n");
-
-	return ret;
-}
diff --git a/apps/px4/tests/test_jig_voltages.c b/apps/px4/tests/test_jig_voltages.c
deleted file mode 100644
index 10c93b264..000000000
--- a/apps/px4/tests/test_jig_voltages.c
+++ /dev/null
@@ -1,168 +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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <nuttx/arch.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/spi.h>
-
-#include "tests.h"
-
-#include <nuttx/analog/adc.h>
-#include <drivers/drv_adc.h>
-#include <systemlib/err.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_gpio
- ****************************************************************************/
-
-int test_jig_voltages(int argc, char *argv[])
-{
-	int fd = open(ADC_DEVICE_PATH, O_RDONLY);
-	int ret = OK;
-
-	if (fd < 0) {
-		warnx("can't open ADC device");
-		return 1;
-	}
-
-	/* make space for a maximum of eight channels */
-	struct adc_msg_s data[8];
-	/* read all channels available */
-	ssize_t count = read(fd, data, sizeof(data));
-
-	if (count < 0) {
-		close(fd);
-		warnx("can't read from ADC driver. Forgot 'adc start' command?");
-		return 1;
-	}
-
-	unsigned channels = count / sizeof(data[0]);
-
-	for (unsigned j = 0; j < channels; j++) {
-		printf("%d: %u  ", data[j].am_channel, data[j].am_data);
-	}
-
-	printf("\n");
-
-	warnx("\t ADC operational.\n");
-
-	/* Expected values */
-	int16_t expected_min[] = {2800, 2800, 1800,  800};
-	int16_t expected_max[] = {3100, 3100, 2100, 1100};
-	char *check_res[channels];
-
-	if (channels < 4) {
-		close(fd);
-		warnx("not all four test channels available, aborting.");
-		return 1;
-
-	} else {
-		/* Check values */
-		check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
-		check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
-		check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
-		check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
-
-		/* Accumulate result */
-		ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
-		ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
-		ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
-		ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
-
-		message("Sample:");
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
-
-		if (ret != OK) {
-			printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
-			goto errout_with_dev;
-		}
-	}
-
-	printf("\t JIG voltages test successful.\n");
-
-errout_with_dev:
-
-	if (fd != 0) close(fd);
-
-	return ret;
-}
diff --git a/apps/px4/tests/test_led.c b/apps/px4/tests/test_led.c
deleted file mode 100644
index 6e3efc668..000000000
--- a/apps/px4/tests/test_led.c
+++ /dev/null
@@ -1,134 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_gpio.c
- *
- *  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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_led.h>
-
-#include "tests.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
-int test_led(int argc, char *argv[])
-{
-	int		fd;
-	int		ret = 0;
-
-	fd = open(LED_DEVICE_PATH, 0);
-
-	if (fd < 0) {
-		printf("\tLED: open fail\n");
-		return ERROR;
-	}
-
-	if (ioctl(fd, LED_ON, LED_BLUE) ||
-	    ioctl(fd, LED_ON, LED_AMBER)) {
-
-		printf("\tLED: ioctl fail\n");
-		return ERROR;
-	}
-
-	/* let them blink for fun */
-
-	int i;
-	uint8_t ledon = 1;
-
-	for (i = 0; i < 10; i++) {
-		if (ledon) {
-			ioctl(fd, LED_ON, LED_BLUE);
-			ioctl(fd, LED_OFF, LED_AMBER);
-
-		} else {
-			ioctl(fd, LED_OFF, LED_BLUE);
-			ioctl(fd, LED_ON, LED_AMBER);
-		}
-
-		ledon = !ledon;
-		usleep(60000);
-	}
-
-	/* Go back to default */
-	ioctl(fd, LED_ON, LED_BLUE);
-	ioctl(fd, LED_OFF, LED_AMBER);
-
-	printf("\t LED test completed, no errors.\n");
-
-	return ret;
-}
diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c
deleted file mode 100644
index 14503276c..000000000
--- a/apps/px4/tests/test_sensors.c
+++ /dev/null
@@ -1,297 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file test_sensors.c
- * Tests the onboard sensors.
- * 
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include <nuttx/spi.h>
-
-#include "tests.h"
-
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_mag.h>
-#include <drivers/drv_baro.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-static int accel(int argc, char *argv[]);
-static int gyro(int argc, char *argv[]);
-static int mag(int argc, char *argv[]);
-static int baro(int argc, char *argv[]);
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-struct {
-	const char	*name;
-	const char	*path;
-	int	(* test)(int argc, char *argv[]);
-} sensors[] = {
-	{"accel",	"/dev/accel",	accel},
-	{"gyro",	"/dev/gyro",	gyro},
-	{"mag",		"/dev/mag",	mag},
-	{"baro",	"/dev/baro",	baro},
-	{NULL, NULL, NULL}
-};
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-static int
-accel(int argc, char *argv[])
-{
-	printf("\tACCEL: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	struct accel_report buf;
-	int		ret;
-
-	fd = open("/dev/accel", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 100ms, sensor should have data after no more than 20ms */
-	usleep(100000);
-
-	/* read data - expect samples */
-	ret = read(fd, &buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tACCEL: read1 fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
-	}
-
-	// /* wait at least 10ms, sensor should have data after no more than 2ms */
-	// usleep(100000);
-
-	// ret = read(fd, buf, sizeof(buf));
-
-	// if (ret != sizeof(buf)) {
-	// 	printf("\tMPU-6000: read2 fail (%d)\n", ret);
-	// 	return ERROR;
-
-	// } else {
-	// 	printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
-	// }
-
-	/* XXX more tests here */
-
-	/* Let user know everything is ok */
-	printf("\tOK: ACCEL passed all tests successfully\n");
-
-	return OK;
-}
-
-static int
-gyro(int argc, char *argv[])
-{
-	printf("\tGYRO: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	struct gyro_report buf;
-	int		ret;
-
-	fd = open("/dev/gyro", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
-
-	/* read data - expect samples */
-	ret = read(fd, &buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tGYRO: read fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: GYRO passed all tests successfully\n");
-
-	return OK;
-}
-
-static int
-mag(int argc, char *argv[])
-{
-	printf("\tMAG: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	struct mag_report buf;
-	int		ret;
-
-	fd = open("/dev/mag", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
-
-	/* read data - expect samples */
-	ret = read(fd, &buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tMAG: read fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: MAG passed all tests successfully\n");
-
-	return OK;
-}
-
-static int
-baro(int argc, char *argv[])
-{
-	printf("\tBARO: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	struct baro_report buf;
-	int		ret;
-
-	fd = open("/dev/baro", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
-
-	/* read data - expect samples */
-	ret = read(fd, &buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tBARO: read fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: BARO passed all tests successfully\n");
-
-	return OK;
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_sensors
- ****************************************************************************/
-
-int test_sensors(int argc, char *argv[])
-{
-	unsigned	i;
-
-	printf("Running sensors tests:\n\n");
-	fflush(stdout);
-
-	int ret = OK;
-
-	for (i = 0; sensors[i].name; i++) {
-		printf("  sensor: %s\n", sensors[i].name);
-
-		/* Flush and leave enough time for the flush to become effective */
-		fflush(stdout);
-		usleep(50000);
-		/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
-
-		ret += sensors[i].test(argc, argv);
-	}
-
-	return ret;
-}
diff --git a/apps/px4/tests/test_servo.c b/apps/px4/tests/test_servo.c
deleted file mode 100644
index f95760ca8..000000000
--- a/apps/px4/tests/test_servo.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_hrt.c
- *
- *  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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <time.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_pwm_output.h>
-
-#include <nuttx/spi.h>
-
-#include "tests.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_servo
- ****************************************************************************/
-
-int test_servo(int argc, char *argv[])
-{
-	int fd, result;
-	servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
-	servo_position_t pos;
-
-	fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
-
-	if (fd < 0) {
-		printf("failed opening /dev/pwm_servo\n");
-		goto out;
-	}
-
-	result = read(fd, &data, sizeof(data));
-
-	if (result != sizeof(data)) {
-		printf("failed bulk-reading channel values\n");
-		goto out;
-	}
-
-	printf("Servo readback, pairs of values should match defaults\n");
-
-	for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
-		result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
-
-		if (result < 0) {
-			printf("failed reading channel %u\n", i);
-			goto out;
-		}
-
-		printf("%u: %u %u\n", i, pos, data[i]);
-
-	}
-
-	printf("Servos arming at default values\n");
-	result = ioctl(fd, PWM_SERVO_ARM, 0);
-	usleep(5000000);
-	printf("Advancing channel 0 to 1500\n");
-	result = ioctl(fd, PWM_SERVO_SET(0), 1500);
-out:
-	return 0;
-}
diff --git a/apps/px4/tests/test_sleep.c b/apps/px4/tests/test_sleep.c
deleted file mode 100644
index ae682b542..000000000
--- a/apps/px4/tests/test_sleep.c
+++ /dev/null
@@ -1,100 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_gpio.c
- *
- *  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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "tests.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_sleep
- ****************************************************************************/
-
-int test_sleep(int argc, char *argv[])
-{
-	unsigned int nsleeps = 100;
-	printf("\t %d 100ms sleeps\n", nsleeps);
-	fflush(stdout);
-
-	for (unsigned int i = 0; i < nsleeps; i++) {
-		usleep(100000);
-	}
-
-	printf("\t Sleep test successful.\n");
-
-	return OK;
-}
diff --git a/apps/px4/tests/test_time.c b/apps/px4/tests/test_time.c
deleted file mode 100644
index 8a164f3fc..000000000
--- a/apps/px4/tests/test_time.c
+++ /dev/null
@@ -1,160 +0,0 @@
-/****************************************************************************
- * px4/tests/test_time.c
- *
- *   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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "tests.h"
-
-#include <math.h>
-#include <float.h>
-#include <drivers/drv_hrt.h>
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/* emulate hrt_absolute_time using the cycle counter */
-static hrt_abstime
-cycletime(void)
-{
-	static uint64_t basetime;
-	static uint32_t lasttime;
-	uint32_t cycles;
-
-	cycles = *(unsigned long *)0xe0001004;
-
-	if (cycles < lasttime)
-		basetime += 0x100000000ULL;
-
-	lasttime = cycles;
-
-	return (basetime + cycles) / 168;	/* XXX magic number */
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
-int test_time(int argc, char *argv[])
-{
-	hrt_abstime h, c;
-	int64_t lowdelta, maxdelta = 0;
-	int64_t delta, deltadelta;
-
-	/* enable the cycle counter */
-	(*(unsigned long *)0xe000edfc) |= (1 << 24);    /* DEMCR |= DEMCR_TRCENA */
-	(*(unsigned long *)0xe0001000) |= 1;    	/* DWT_CTRL |= DWT_CYCCNT_ENA */
-
-	/* get an average delta between the two clocks - this should stay roughly the same */
-	delta = 0;
-
-	for (unsigned i = 0; i < 100; i++) {
-		uint32_t flags = irqsave();
-
-		h = hrt_absolute_time();
-		c = cycletime();
-
-		irqrestore(flags);
-
-		delta += h - c;
-	}
-
-	lowdelta = abs(delta / 100);
-
-	/* loop checking the time */
-	for (unsigned i = 0; i < 100; i++) {
-
-		usleep(rand());
-
-		uint32_t flags = irqsave();
-
-		c = cycletime();
-		h = hrt_absolute_time();
-
-		irqrestore(flags);
-
-		delta = abs(h - c);
-		deltadelta = abs(delta - lowdelta);
-
-		if (deltadelta > maxdelta)
-			maxdelta = deltadelta;
-
-		if (deltadelta > 1000)
-			fprintf(stderr, "h %llu  c %llu  d %lld\n", h, c, delta - lowdelta);
-	}
-
-	printf("Maximum jitter %lldus\n", maxdelta);
-
-	return 0;
-}
diff --git a/apps/px4/tests/test_uart_baudchange.c b/apps/px4/tests/test_uart_baudchange.c
deleted file mode 100644
index 609a65c62..000000000
--- a/apps/px4/tests/test_uart_baudchange.c
+++ /dev/null
@@ -1,158 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_gpio.c
- *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *            Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <termios.h>
-#include <string.h>
-
-#include <arch/board/board.h>
-
-#include "tests.h"
-
-#include <math.h>
-#include <float.h>
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
-int test_uart_baudchange(int argc, char *argv[])
-{
-	int uart2_nwrite = 0;
-
-	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
-	int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); //
-
-	if (uart2 < 0) {
-		printf("ERROR opening UART2, aborting..\n");
-		return uart2;
-	}
-
-	struct termios uart2_config;
-
-	struct termios uart2_config_original;
-
-	int termios_state = 0;
-
-#define UART_BAUDRATE_RUNTIME_CONF
-#ifdef UART_BAUDRATE_RUNTIME_CONF
-
-	if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) {
-		printf("ERROR getting termios config for UART2: %d\n", termios_state);
-		exit(termios_state);
-	}
-
-	memcpy(&uart2_config_original, &uart2_config, sizeof(struct termios));
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) {
-		printf("ERROR setting termios config for UART2: %d\n", termios_state);
-		exit(ERROR);
-	}
-
-	if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config)) < 0) {
-		printf("ERROR setting termios config for UART2\n");
-		exit(termios_state);
-	}
-
-	/* Set back to original settings */
-	if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config_original)) < 0) {
-		printf("ERROR setting termios config for UART2\n");
-		exit(termios_state);
-	}
-
-#endif
-
-	uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0, '\n'};
-
-	int i, r;
-
-	for (i = 0; i < 100; i++) {
-		/* uart2 -> */
-		r = write(uart2, sample_uart2, sizeof(sample_uart2));
-
-		if (r > 0)
-			uart2_nwrite += r;
-	}
-
-	close(uart2);
-
-	printf("uart2_nwrite %d\n", uart2_nwrite);
-
-	return OK;
-}
diff --git a/apps/px4/tests/test_uart_console.c b/apps/px4/tests/test_uart_console.c
deleted file mode 100644
index f8582b52f..000000000
--- a/apps/px4/tests/test_uart_console.c
+++ /dev/null
@@ -1,175 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_uart_console.c
- *
- *   Copyright (C) 2012 Lorenz Meier. All rights reserved.
- *   Authors: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "tests.h"
-
-#include <math.h>
-#include <float.h>
-#include <drivers/drv_hrt.h>
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
-static void *receive_loop(void *arg)
-{
-	int uart_usb = open("/dev/ttyACM0", O_RDONLY | O_NOCTTY);
-
-	while (1) {
-		char c;
-		read(uart_usb, &c, 1);
-		printf("%c", c);
-		fflush(stdout);
-	}
-
-	return NULL;
-}
-
-int test_uart_console(int argc, char *argv[])
-{
-	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
-	//
-	int uart_usb = open("/dev/ttyACM0", O_WRONLY | O_NOCTTY);
-
-	if (uart_usb < 0) {
-		printf("ERROR opening /dev/ttyACM0. Do you need to run sercon first? Aborting..\n");
-		return uart_usb;
-	}
-
-	uint8_t sample_uart_usb[] = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'};
-
-	pthread_t receive_thread;
-
-	pthread_create(&receive_thread, NULL, receive_loop, NULL);
-
-	//wait for threads to complete:
-	pthread_join(receive_thread, NULL);
-
-	for (int i = 0; i < 30; i++) {
-		write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
-		printf(".");
-		fflush(stdout);
-		sleep(1);
-	}
-
-//	uint64_t start_time = hrt_absolute_time();
-//
-////	while (true)
-//	for (int i = 0; i < 1000; i++)
-//	{
-//		//write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
-//		int nread = 0;
-//		char c;
-//		do {
-//			nread = read(uart_usb, &c, 1);
-//			if (nread > 0)
-//			{
-//				printf("%c", c);
-//			}
-//		} while (nread > 0);
-//
-//		do {
-//			nread = read(uart_console, &c, 1);
-//			if (nread > 0)
-//			{
-//				if (c == 0x03)
-//				{
-//					close(uart_usb);
-//					close(uart_console);
-//					exit(OK);
-//				}
-//				else
-//				{
-//					write(uart_usb, &c, 1);
-//				}
-//			}
-//		} while (nread > 0);
-//		usleep(10000);
-//	}
-//
-//	int interval = hrt_absolute_time() - start_time;
-
-	close(uart_usb);
-//	close(uart_console);
-
-	return 0;
-}
diff --git a/apps/px4/tests/test_uart_loopback.c b/apps/px4/tests/test_uart_loopback.c
deleted file mode 100644
index 3be152004..000000000
--- a/apps/px4/tests/test_uart_loopback.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_gpio.c
- *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *            Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "tests.h"
-
-#include <math.h>
-#include <float.h>
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
-int test_uart_loopback(int argc, char *argv[])
-{
-
-	int uart5_nread = 0;
-	int uart2_nread = 0;
-	int uart5_nwrite = 0;
-	int uart2_nwrite = 0;
-
-	int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); //
-
-	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
-	int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); //
-	int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); //
-
-	if (uart2 < 0) {
-		printf("ERROR opening UART2, aborting..\n");
-		return uart2;
-	}
-
-	if (uart5 < 0) {
-		printf("ERROR opening UART5, aborting..\n");
-		exit(uart5);
-	}
-
-	uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'};
-	uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
-	uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
-
-	int i, r;
-
-	for (i = 0; i < 1000; i++) {
-//		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
-
-		/* uart2 -> uart5 */
-		r = write(uart2, sample_uart2, sizeof(sample_uart2));
-
-		if (r > 0)
-			uart2_nwrite += r;
-
-//		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
-
-		/* uart2 -> uart5 */
-		r = write(uart5, sample_uart5, sizeof(sample_uart5));
-
-		if (r > 0)
-			uart5_nwrite += r;
-
-//		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
-
-		/* try to read back values */
-		do {
-			r = read(uart5, sample_uart2, sizeof(sample_uart2));
-
-			if (r > 0)
-				uart5_nread += r;
-		} while (r > 0);
-
-//		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
-
-		do {
-			r = read(uart2, sample_uart5, sizeof(sample_uart5));
-
-			if (r > 0)
-				uart2_nread += r;
-		} while (r > 0);
-
-//		printf("TEST #%d\n",i);
-//		write(uart1, sample_uart1, sizeof(sample_uart5));
-	}
-
-	for (i = 0; i < 200000; i++) {
-
-		/* try to read back values */
-		r = read(uart5, sample_uart2, sizeof(sample_uart2));
-
-		if (r > 0)
-			uart5_nread += r;
-
-		r = read(uart2, sample_uart5, sizeof(sample_uart5));
-
-		if (r > 0)
-			uart2_nread += r;
-
-		if ((uart2_nread == uart2_nwrite) && (uart5_nread == uart5_nwrite))
-			break;
-	}
-
-
-	close(uart1);
-	close(uart2);
-	close(uart5);
-
-	printf("uart2_nwrite %d\n", uart2_nwrite);
-	printf("uart5_nwrite %d\n", uart5_nwrite);
-	printf("uart2_nread  %d\n", uart2_nread);
-	printf("uart5_nread  %d\n", uart5_nread);
-
-
-	return 0;
-}
diff --git a/apps/px4/tests/test_uart_send.c b/apps/px4/tests/test_uart_send.c
deleted file mode 100644
index 7e1e8d307..000000000
--- a/apps/px4/tests/test_uart_send.c
+++ /dev/null
@@ -1,131 +0,0 @@
-/****************************************************************************
- * px4/sensors/test_gpio.c
- *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *            Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include "tests.h"
-
-#include <math.h>
-#include <float.h>
-#include <drivers/drv_hrt.h>
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
-int test_uart_send(int argc, char *argv[])
-{
-	/* input handling */
-	char *uart_name = "/dev/ttyS3";
-
-	if (argc > 1) uart_name = argv[1];
-
-	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
-	int test_uart = open(uart_name, O_RDWR | O_NONBLOCK | O_NOCTTY); //
-
-	if (test_uart < 0) {
-		printf("ERROR opening UART %s, aborting..\n", uart_name);
-		return test_uart;
-
-	} else {
-		printf("Writing to UART %s\n", uart_name);
-	}
-
-	char sample_test_uart[25];// = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'};
-
-	int i, n;
-
-	uint64_t start_time = hrt_absolute_time();
-
-	for (i = 0; i < 30000; i++) {
-		n = sprintf(sample_test_uart, "SAMPLE #%d\n", i);
-		write(test_uart, sample_test_uart, n);
-	}
-
-	int interval = hrt_absolute_time() - start_time;
-
-	int bytes = i * sizeof(sample_test_uart);
-
-	printf("Wrote %d bytes in %d ms on UART %s\n", bytes, interval / 1000, uart_name);
-
-	close(test_uart);
-
-	return 0;
-}
diff --git a/apps/px4/tests/tests.h b/apps/px4/tests/tests.h
deleted file mode 100644
index c02ea6808..000000000
--- a/apps/px4/tests/tests.h
+++ /dev/null
@@ -1,102 +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.
- *
- ****************************************************************************/
-
-#ifndef __APPS_PX4_TESTS_H
-#define __APPS_PX4_TESTS_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/* Debug ********************************************************************/
-
-#ifdef CONFIG_CPP_HAVE_VARARGS
-#  ifdef CONFIG_DEBUG
-#    define message(...) lowsyslog(__VA_ARGS__)
-#    define msgflush()
-#  else
-#    define message(...) printf(__VA_ARGS__)
-#    define msgflush() fflush(stdout)
-#  endif
-#else
-#  ifdef CONFIG_DEBUG
-#    define message lowsyslog
-#    define msgflush()
-#  else
-#    define message printf
-#    define msgflush() fflush(stdout)
-#  endif
-#endif
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/****************************************************************************
- * Public Variables
- ****************************************************************************/
-
-/****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
-
-extern int	test_sensors(int argc, char *argv[]);
-extern int	test_gpio(int argc, char *argv[]);
-extern int	test_hrt(int argc, char *argv[]);
-extern int	test_tone(int argc, char *argv[]);
-extern int	test_led(int argc, char *argv[]);
-extern int	test_adc(int argc, char *argv[]);
-extern int	test_int(int argc, char *argv[]);
-extern int	test_float(int argc, char *argv[]);
-extern int	test_ppm(int argc, char *argv[]);
-extern int	test_servo(int argc, char *argv[]);
-extern int	test_uart_loopback(int argc, char *argv[]);
-extern int	test_uart_baudchange(int argc, char *argv[]);
-extern int	test_cpuload(int argc, char *argv[]);
-extern int	test_uart_send(int argc, char *argv[]);
-extern int	test_sleep(int argc, char *argv[]);
-extern int	test_time(int argc, char *argv[]);
-extern int	test_uart_console(int argc, char *argv[]);
-extern int	test_hott_telemetry(int argc, char *argv[]);
-extern int	test_jig_voltages(int argc, char *argv[]);
-extern int	test_param(int argc, char *argv[]);
-extern int	test_bson(int argc, char *argv[]);
-extern int	test_file(int argc, char *argv[]);
-
-#endif /* __APPS_PX4_TESTS_H */
diff --git a/apps/px4/tests/tests_file.c b/apps/px4/tests/tests_file.c
deleted file mode 100644
index 6f75b9812..000000000
--- a/apps/px4/tests/tests_file.c
+++ /dev/null
@@ -1,84 +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.
- *
- ****************************************************************************/
-
-/**
- * @file tests_file.c
- *
- * File write test.
- */
-
-#include <sys/stat.h>
-#include <stdio.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <systemlib/err.h>
-#include <systemlib/perf_counter.h>
-#include <string.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "tests.h"
-
-int
-test_file(int argc, char *argv[])
-{
-	/* check if microSD card is mounted */
-	struct stat buffer;
-	if (stat("/fs/microsd/", &buffer)) {
-		warnx("no microSD card mounted, aborting file test");
-		return 1;
-	}
-
-	uint8_t buf[512];
-	hrt_abstime start, end;
-	perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
-
-	int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
-	memset(buf, 0, sizeof(buf));
-
-	start = hrt_absolute_time();
-	for (unsigned i = 0; i < 1024; i++) {
-		perf_begin(wperf);
-		write(fd, buf, sizeof(buf));
-		perf_end(wperf);
-	}
-	end = hrt_absolute_time();
-
-	close(fd);
-
-	warnx("512KiB in %llu microseconds", end - start);
-	perf_print_counter(wperf);
-	perf_free(wperf);
-
-	return 0;
-}
diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c
deleted file mode 100644
index 9f8c5c9ea..000000000
--- a/apps/px4/tests/tests_main.c
+++ /dev/null
@@ -1,339 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file tests_main.c
- * Tests main file, loads individual tests.
- */
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-
-#include <nuttx/spi.h>
-
-#include <systemlib/perf_counter.h>
-
-#include "tests.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-static int test_help(int argc, char *argv[]);
-static int test_all(int argc, char *argv[]);
-static int test_perf(int argc, char *argv[]);
-static int test_jig(int argc, char *argv[]);
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-const struct {
-	const char 	*name;
-	int	(* fn)(int argc, char *argv[]);
-	unsigned	options;
-#define OPT_NOHELP	(1<<0)
-#define OPT_NOALLTEST	(1<<1)
-#define OPT_NOJIGTEST	(1<<2)
-} tests[] = {
-	{"led",			test_led,	0},
-	{"int",			test_int,	0},
-	{"float",		test_float,	0},
-	{"sensors",		test_sensors,	0},
-	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"adc",			test_adc,	OPT_NOJIGTEST},
-	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
-	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"tone",		test_tone,	0},
-	{"sleep",		test_sleep,	OPT_NOJIGTEST},
-	{"time",		test_time,	OPT_NOJIGTEST},
-	{"perf",		test_perf,	OPT_NOJIGTEST},
-	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST},
-	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"param",		test_param,	0},
-	{"bson",		test_bson,	0},
-	{"file",		test_file,	0},
-	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
-	{NULL,			NULL, 		0}
-};
-
-#define NTESTS (sizeof(tests) / sizeof(tests[0]))
-
-static int
-test_help(int argc, char *argv[])
-{
-	unsigned	i;
-
-	printf("Available tests:\n");
-
-	for (i = 0; tests[i].name; i++)
-		printf("  %s\n", tests[i].name);
-
-	return 0;
-}
-
-static int
-test_all(int argc, char *argv[])
-{
-	unsigned	i;
-	char		*args[2] = {"all", NULL};
-	unsigned int failcount = 0;
-	unsigned int testcount = 0;
-	bool		passed[NTESTS];
-
-	printf("\nRunning all tests...\n\n");
-
-	for (i = 0; tests[i].name; i++) {
-		/* Only run tests that are not excluded */
-		if (!(tests[i].options & OPT_NOALLTEST)) {
-			printf("  [%s] \t\t\tSTARTING TEST\n", tests[i].name);
-			fflush(stdout);
-
-			/* Execute test */
-			if (tests[i].fn(1, args) != 0) {
-				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
-				fflush(stderr);
-				failcount++;
-				passed[i] = false;
-			} else {
-				printf("  [%s] \t\t\tPASS\n", tests[i].name);
-				fflush(stdout);
-				passed[i] = true;
-			}
-			testcount++;
-		}
-	}
-
-	/* Print summary */
-	printf("\n");
-	int j;
-
-	for (j = 0; j < 40; j++) {
-		printf("-");
-	}
-
-	printf("\n\n");
-
-	printf("     T E S T    S U M M A R Y\n\n");
-
-	if (failcount == 0) {
-		printf("  ______     __         __            ______     __  __    \n");
-		printf(" /\\  __ \\   /\\ \\       /\\ \\          /\\  __ \\   /\\ \\/ /    \n");
-		printf(" \\ \\  __ \\  \\ \\ \\____  \\ \\ \\____     \\ \\ \\/\\ \\  \\ \\  _\"-.  \n");
-		printf("  \\ \\_\\ \\_\\  \\ \\_____\\  \\ \\_____\\     \\ \\_____\\  \\ \\_\\ \\_\\ \n");
-		printf("   \\/_/\\/_/   \\/_____/   \\/_____/      \\/_____/   \\/_/\\/_/ \n");
-		printf("\n");
-		printf(" All tests passed (%d of %d)\n", testcount, testcount);
-
-	} else {
-		printf("  ______   ______     __     __ \n");
-		printf(" /\\  ___\\ /\\  __ \\   /\\ \\   /\\ \\    \n");
-		printf(" \\ \\  __\\ \\ \\  __ \\  \\ \\ \\  \\ \\ \\__\n");
-		printf("  \\ \\_\\    \\ \\_\\ \\_\\  \\ \\_\\  \\ \\_____\\ \n");
-		printf("   \\/_/     \\/_/\\/_/   \\/_/   \\/_____/ \n");
-		printf("\n");
-		printf(" Some tests failed (%d of %d)\n", failcount, testcount);
-	}
-
-	printf("\n");
-
-	/* Print failed tests */
-	if (failcount > 0) printf(" Failed tests:\n\n");
-
-	unsigned int k;
-
-	for (k = 0; k < i; k++) {
-		if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) {
-			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
-		}
-	}
-
-	fflush(stdout);
-
-	return 0;
-}
-
-static int
-test_perf(int argc, char *argv[])
-{
-	perf_counter_t	cc, ec;
-
-	cc = perf_alloc(PC_COUNT, "test_count");
-	ec = perf_alloc(PC_ELAPSED, "test_elapsed");
-
-	if ((cc == NULL) || (ec == NULL)) {
-		printf("perf: counter alloc failed\n");
-		return 1;
-	}
-
-	perf_begin(ec);
-	perf_count(cc);
-	perf_count(cc);
-	perf_count(cc);
-	perf_count(cc);
-	printf("perf: expect count of 4\n");
-	perf_print_counter(cc);
-	perf_end(ec);
-	printf("perf: expect count of 1\n");
-	perf_print_counter(ec);
-	printf("perf: expect at least two counters\n");
-	perf_print_all();
-
-	perf_free(cc);
-	perf_free(ec);
-
-	return OK;
-}
-
-int test_jig(int argc, char *argv[])
-{
-	unsigned	i;
-	char		*args[2] = {"jig", NULL};
-	unsigned int failcount = 0;
-	unsigned int testcount = 0;
-	bool		passed[NTESTS];
-
-	printf("\nRunning all tests...\n\n");
-	for (i = 0; tests[i].name; i++) {
-		/* Only run tests that are not excluded */
-		if (!(tests[i].options & OPT_NOJIGTEST)) {
-			printf("  [%s] \t\t\tSTARTING TEST\n", tests[i].name);
-			fflush(stdout);
-			/* Execute test */
-			if (tests[i].fn(1, args) != 0) {
-				fprintf(stderr, "  [%s] \t\t\tFAIL\n", tests[i].name);
-				fflush(stderr);
-				failcount++;
-				passed[i] = false;
-			} else {
-				printf("  [%s] \t\t\tPASS\n", tests[i].name);
-				fflush(stdout);
-				passed[i] = true;
-			}
-			testcount++;
-		}
-	}
-
-	/* Print summary */
-	printf("\n");
-	int j;
-	for (j = 0; j < 40; j++)
-	{
-		printf("-");
-	}
-	printf("\n\n");
-
-	printf("     T E S T    S U M M A R Y\n\n");
-	if (failcount == 0) {
-		printf("  ______     __         __            ______     __  __    \n");
-		printf(" /\\  __ \\   /\\ \\       /\\ \\          /\\  __ \\   /\\ \\/ /    \n");
-		printf(" \\ \\  __ \\  \\ \\ \\____  \\ \\ \\____     \\ \\ \\/\\ \\  \\ \\  _\"-.  \n");
-		printf("  \\ \\_\\ \\_\\  \\ \\_____\\  \\ \\_____\\     \\ \\_____\\  \\ \\_\\ \\_\\ \n");
-		printf("   \\/_/\\/_/   \\/_____/   \\/_____/      \\/_____/   \\/_/\\/_/ \n");
-		printf("\n");
-		printf(" All tests passed (%d of %d)\n", testcount, testcount);
-	} else {
-		printf("  ______   ______     __     __ \n");
-		printf(" /\\  ___\\ /\\  __ \\   /\\ \\   /\\ \\    \n");
-		printf(" \\ \\  __\\ \\ \\  __ \\  \\ \\ \\  \\ \\ \\__\n");
-		printf("  \\ \\_\\    \\ \\_\\ \\_\\  \\ \\_\\  \\ \\_____\\ \n");
-		printf("   \\/_/     \\/_/\\/_/   \\/_/   \\/_____/ \n");
-		printf("\n");
-		printf(" Some tests failed (%d of %d)\n", failcount, testcount);
-	}
-	printf("\n");
-
-	/* Print failed tests */
-	if (failcount > 0) printf(" Failed tests:\n\n");
-	unsigned int k;
-	for (k = 0; k < i; k++)
-	{
-		if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST))
-		{
-			printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
-		}
-	}
-	fflush(stdout);
-
-	return 0;
-}
-
-__EXPORT int tests_main(int argc, char *argv[]);
-
-/**
- * Executes system tests.
- */
-int tests_main(int argc, char *argv[])
-{
-	unsigned	i;
-
-	if (argc < 2) {
-		printf("tests: missing test name - 'tests help' for a list of tests\n");
-		return 1;
-	}
-
-	for (i = 0; tests[i].name; i++) {
-		if (!strcmp(tests[i].name, argv[1]))
-			return tests[i].fn(argc - 1, argv + 1);
-	}
-
-	printf("tests: no test called '%s' - 'tests help' for a list of tests\n", argv[1]);
-	return ERROR;
-}
diff --git a/apps/px4/tests/tests_param.c b/apps/px4/tests/tests_param.c
deleted file mode 100644
index 13f17bc43..000000000
--- a/apps/px4/tests/tests_param.c
+++ /dev/null
@@ -1,78 +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.
- *
- ****************************************************************************/
-
-/**
- * @file tests_param.c
- *
- * Tests related to the parameter system.
- */
-
-#include <stdio.h>
-#include "systemlib/err.h"
-
-#include "systemlib/param/param.h"
-#include "tests.h"
-
-PARAM_DEFINE_INT32(test, 0x12345678);
-
-int
-test_param(int argc, char *argv[])
-{
-	param_t		p;
-
-	p = param_find("test");
-	if (p == PARAM_INVALID)
-		errx(1, "test parameter not found");
-
-	param_type_t t = param_type(p);
-	if (t != PARAM_TYPE_INT32)
-		errx(1, "test parameter type mismatch (got %u)", (unsigned)t);
-
-	int32_t	val;
-	if (param_get(p, &val) != 0)
-		errx(1, "failed to read test parameter");
-	if (val != 0x12345678)
-		errx(1, "parameter value mismatch");
-
-	val = 0xa5a5a5a5;
-	if (param_set(p, &val) != 0)
-		errx(1, "failed to write test parameter");
-	if (param_get(p, &val) != 0)
-		errx(1, "failed to re-read test parameter");
-	if ((uint32_t)val != 0xa5a5a5a5)
-		errx(1, "parameter value mismatch after write");
-
-	warnx("parameter test PASS");
-
-	return 0;
-}