Moved all system commands to the new world

30 files changed, 0 insertions, 3410 deletions

diff --git a/apps/systemcmds/bl_update/Makefile b/apps/systemcmds/bl_update/Makefile
deleted file mode 100644
index d05493577..000000000
--- a/apps/systemcmds/bl_update/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.
-#
-############################################################################
-
-#
-# Build the eeprom tool.
-#
-
-APPNAME		 = bl_update
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/bl_update/bl_update.c b/apps/systemcmds/bl_update/bl_update.c
deleted file mode 100644
index 45715b791..000000000
--- a/apps/systemcmds/bl_update/bl_update.c
+++ /dev/null
@@ -1,215 +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 bl_update.c
- *
- * STM32F4 bootloader update tool.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/stat.h>
-
-#include <arch/board/board.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/err.h"
-
-__EXPORT int bl_update_main(int argc, char *argv[]);
-
-static void setopt(void);
-
-int
-bl_update_main(int argc, char *argv[])
-{
-	if (argc != 2)
-		errx(1, "missing firmware filename or command");
-
-	if (!strcmp(argv[1], "setopt"))
-		setopt();
-
-	int fd = open(argv[1], O_RDONLY);
-
-	if (fd < 0)
-		err(1, "open %s", argv[1]);
-
-	struct stat s;
-
-	if (stat(argv[1], &s) < 0)
-		err(1, "stat %s", argv[1]);
-
-	/* sanity-check file size */
-	if (s.st_size > 16384)
-		errx(1, "%s: file too large", argv[1]);
-
-	uint8_t *buf = malloc(s.st_size);
-
-	if (buf == NULL)
-		errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size);
-
-	if (read(fd, buf, s.st_size) != s.st_size)
-		err(1, "firmware read error");
-
-	close(fd);
-
-	uint32_t *hdr = (uint32_t *)buf;
-
-	if ((hdr[0] < 0x20000000) ||			/* stack not below RAM */
-	    (hdr[0] > (0x20000000 + (128 * 1024))) ||	/* stack not above RAM */
-	    (hdr[1] < 0x08000000) ||			/* entrypoint not below flash */
-	    ((hdr[1] - 0x08000000) > 16384)) {		/* entrypoint not outside bootloader */
-		free(buf);
-		errx(1, "not a bootloader image");
-	}
-
-	warnx("image validated, erasing bootloader...");
-	usleep(10000);
-
-	/* prevent other tasks from running while we do this */
-	sched_lock();
-
-	/* unlock the control register */
-	volatile uint32_t *keyr = (volatile uint32_t *)0x40023c04;
-	*keyr = 0x45670123U;
-	*keyr = 0xcdef89abU;
-
-	volatile uint32_t *sr = (volatile uint32_t *)0x40023c0c;
-	volatile uint32_t *cr = (volatile uint32_t *)0x40023c10;
-	volatile uint8_t *base = (volatile uint8_t *)0x08000000;
-
-	/* check the control register */
-	if (*cr & 0x80000000) {
-		warnx("WARNING: flash unlock failed, flash aborted");
-		goto flash_end;
-	}
-
-	/* erase the bootloader sector */
-	*cr = 0x2;
-	*cr = 0x10002;
-
-	/* wait for the operation to complete */
-	while (*sr & 0x1000) {
-	}
-
-	if (*sr & 0xf2) {
-		warnx("WARNING: erase error 0x%02x", *sr);
-		goto flash_end;
-	}
-
-	/* verify the erase */
-	for (int i = 0; i < s.st_size; i++) {
-		if (base[i] != 0xff) {
-			warnx("WARNING: erase failed at %d - retry update, DO NOT reboot", i);
-			goto flash_end;
-		}
-	}
-
-	warnx("flashing...");
-
-	/* now program the bootloader - speed is not critical so use x8 mode */
-	for (int i = 0; i < s.st_size; i++) {
-
-		/* program a byte */
-		*cr = 1;
-		base[i] = buf[i];
-
-		/* wait for the operation to complete */
-		while (*sr & 0x1000) {
-		}
-
-		if (*sr & 0xf2) {
-			warnx("WARNING: program error 0x%02x", *sr);
-			goto flash_end;
-		}
-	}
-
-	/* re-lock the flash control register */
-	*cr = 0x80000000;
-
-	warnx("verifying...");
-
-	/* now run a verify pass */
-	for (int i = 0; i < s.st_size; i++) {
-		if (base[i] != buf[i]) {
-			warnx("WARNING: verify failed at %u - retry update, DO NOT reboot", i);
-			goto flash_end;
-		}
-	}
-
-	warnx("bootloader update complete");
-
-flash_end:
-	/* unlock the scheduler */
-	sched_unlock();
-
-	free(buf);
-	exit(0);
-}
-
-static void
-setopt(void)
-{
-	volatile uint32_t *optcr = (volatile uint32_t *)0x40023c14;
-
-	const uint16_t opt_mask = (3 << 2);		/* BOR_LEV bitmask */
-	const uint16_t opt_bits = (0 << 2);		/* BOR = 0, setting for 2.7-3.6V operation */
-
-	if ((*optcr & opt_mask) == opt_bits)
-		errx(0, "option bits are already set as required");
-
-	/* unlock the control register */
-	volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08;
-	*optkeyr = 0x08192a3bU;
-	*optkeyr = 0x4c5d6e7fU;
-
-	if (*optcr & 1)
-		errx(1, "option control register unlock failed");
-
-	/* program the new option value */
-	*optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1);
-
-	usleep(1000);
-
-	if ((*optcr & opt_mask) == opt_bits)
-		errx(0, "option bits set");
-
-	errx(1, "option bits setting failed; readback 0x%04x", *optcr);
-
-}
\ No newline at end of file
diff --git a/apps/systemcmds/boardinfo/.context b/apps/systemcmds/boardinfo/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/boardinfo/.context
+++ /dev/null
diff --git a/apps/systemcmds/boardinfo/Makefile b/apps/systemcmds/boardinfo/Makefile
deleted file mode 100644
index 6f1be149c..000000000
--- a/apps/systemcmds/boardinfo/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.
-#
-############################################################################
-
-#
-# Build the boardinfo tool.
-#
-
-APPNAME		 = boardinfo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/boardinfo/boardinfo.c b/apps/systemcmds/boardinfo/boardinfo.c
deleted file mode 100644
index fb8b07ef4..000000000
--- a/apps/systemcmds/boardinfo/boardinfo.c
+++ /dev/null
@@ -1,409 +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 boardinfo.c
- * autopilot and carrier board information app
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-
-#include <nuttx/i2c.h>
-
-#include <systemlib/systemlib.h>
-#include <systemlib/err.h>
-#include <systemlib/bson/tinybson.h>
-
-__EXPORT int boardinfo_main(int argc, char *argv[]);
-
-struct eeprom_info_s
-{
-	unsigned	bus;
-	unsigned	address;
-	unsigned	page_size;
-	unsigned	page_count;
-	unsigned	page_write_delay;
-};
-
-/* XXX currently code below only supports 8-bit addressing */
-const struct eeprom_info_s eeprom_info[] = {
-	{3, 0x57, 8, 16, 3300},
-};
-
-struct board_parameter_s {
-	const char	*name;
-	bson_type_t	type;
-};
-
-const struct board_parameter_s board_parameters[] = {
-	{"name",	BSON_STRING},	/* ascii board name */
-	{"vers",	BSON_INT32},	/* board version (major << 8) | minor */
-	{"date",	BSON_INT32},	/* manufacture date */
-	{"build",	BSON_INT32}	/* build code (fab << 8) | tester */
-};
-
-const unsigned num_parameters = sizeof(board_parameters) / sizeof(board_parameters[0]);
-
-static int
-eeprom_write(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
-{
-	int result = -1;
-
-	struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
-	if (dev == NULL) {
-		warnx("failed to init bus %d for EEPROM", eeprom->bus);
-		goto out;
-	}
-	I2C_SETFREQUENCY(dev, 400000);
-
-	/* loop until all data has been transferred */
-	for (unsigned address = 0; address < size; ) {
-
-		uint8_t pagebuf[eeprom->page_size + 1];
-
-		/* how many bytes available to transfer? */
-		unsigned count = size - address;
-
-		/* constrain writes to the page size */
-		if (count > eeprom->page_size)
-			count = eeprom->page_size;
-
-		pagebuf[0] = address & 0xff;
-		memcpy(pagebuf + 1, buf + address, count);
-
-		struct i2c_msg_s msgv[1] = {
-			{
-				.addr = eeprom->address,
-				.flags = 0,
-				.buffer = pagebuf,
-				.length = count + 1
-			}
-		};
-
-		result = I2C_TRANSFER(dev, msgv, 1);
-		if (result != OK) {
-			warnx("EEPROM write failed: %d", result);
-			goto out;
-		}
-		usleep(eeprom->page_write_delay);
-		address += count;
-	}
-
-out:
-	if (dev != NULL)
-		up_i2cuninitialize(dev);
-	return result;
-}
-
-static int
-eeprom_read(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size)
-{
-	int result = -1;
-
-	struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus);
-	if (dev == NULL) {
-		warnx("failed to init bus %d for EEPROM", eeprom->bus);
-		goto out;
-	}
-	I2C_SETFREQUENCY(dev, 400000);
-
-	/* loop until all data has been transferred */
-	for (unsigned address = 0; address < size; ) {
-
-		/* how many bytes available to transfer? */
-		unsigned count = size - address;
-
-		/* constrain transfers to the page size (bus anti-hog) */
-		if (count > eeprom->page_size)
-			count = eeprom->page_size;
-
-		uint8_t addr = address;
-		struct i2c_msg_s msgv[2] = {
-			{
-				.addr = eeprom->address,
-				.flags = 0,
-				.buffer = &addr,
-				.length = 1
-			},
-			{
-				.addr = eeprom->address,
-				.flags = I2C_M_READ,
-				.buffer = buf + address,
-				.length = count
-			}
-		};
-
-		result = I2C_TRANSFER(dev, msgv, 2);
-		if (result != OK) {
-			warnx("EEPROM read failed: %d", result);
-			goto out;
-		}
-		address += count;
-	}
-
-out:
-	if (dev != NULL)
-		up_i2cuninitialize(dev);
-	return result;
-}
-
-static void *
-idrom_read(const struct eeprom_info_s *eeprom)
-{
-	uint32_t size = 0xffffffff;
-	int result;
-	void *buf = NULL;
-
-	result = eeprom_read(eeprom, (uint8_t *)&size, sizeof(size));
-	if (result != 0) {
-		warnx("failed reading ID ROM length");
-		goto fail;
-	}
-	if (size > (eeprom->page_size * eeprom->page_count)) {
-		warnx("ID ROM not programmed");
-		goto fail;
-	}
-
-	buf = malloc(size);
-	if (buf == NULL) {
-		warnx("could not allocate %d bytes for ID ROM", size);
-		goto fail;
-	}
-	result = eeprom_read(eeprom, buf, size);
-	if (result != 0) {
-		warnx("failed reading ID ROM");
-		goto fail;
-	}
-	return buf;
-
-fail:
-	if (buf != NULL)
-		free(buf);
-	return NULL;
-}
-
-static void
-boardinfo_set(const struct eeprom_info_s *eeprom, char *spec)
-{
-	struct bson_encoder_s encoder;
-	int result = 1;
-	char *state, *token;
-	unsigned i;
-
-	/* create the encoder and make a writable copy of the spec */
-	bson_encoder_init_buf(&encoder, NULL, 0);
-
-	for (i = 0, token = strtok_r(spec, ",", &state);
-	     token && (i < num_parameters);
-	     i++, token = strtok_r(NULL, ",", &state)) {
-
-		switch (board_parameters[i].type) {
-		case BSON_STRING:
-			result = bson_encoder_append_string(&encoder, board_parameters[i].name, token);
-			break;
-		case BSON_INT32:
-			result = bson_encoder_append_int(&encoder, board_parameters[i].name, strtoul(token, NULL, 0));
-			break;
-		default:
-			result = 1;
-		}
-		if (result) {
-			warnx("bson append failed for %s<%s>", board_parameters[i].name, token);
-			goto out;
-		}
-	}
-	bson_encoder_fini(&encoder);
-	if (i != num_parameters) {
-		warnx("incorrect parameter list, expected: \"<name>,<version><date>,<buildcode>\"");
-		result = 1;
-		goto out;
-	}
-	if (bson_encoder_buf_size(&encoder) > (int)(eeprom->page_size * eeprom->page_count)) {
-		warnx("data too large for EEPROM");
-		result = 1;
-		goto out;
-	}
-	if ((int)*(uint32_t *)bson_encoder_buf_data(&encoder) != bson_encoder_buf_size(&encoder)) {
-		warnx("buffer length mismatch");
-		result = 1;
-		goto out;
-	}
-	warnx("writing %p/%u", bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
-
-	result = eeprom_write(eeprom, (uint8_t *)bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder));
-	if (result < 0) {
-		warnc(-result, "error writing EEPROM");
-		result = 1;
-	} else {
-		result = 0;
-	}
-
-out:
-	free(bson_encoder_buf_data(&encoder));
-
-	exit(result);
-}
-
-static int
-boardinfo_print(bson_decoder_t decoder, void *private, bson_node_t node)
-{
-	switch (node->type) {
-	case BSON_INT32:
-		printf("%s: %d / 0x%08x\n", node->name, (int)node->i, (unsigned)node->i);
-		break;
-	case BSON_STRING: {
-		char buf[bson_decoder_data_pending(decoder)];
-		bson_decoder_copy_data(decoder, buf);
-		printf("%s: %s\n", node->name, buf);
-		break;
-	}
-	case BSON_EOO:
-		break;
-	default:
-		warnx("unexpected node type %d", node->type);
-		break;
-	}
-	return 1;
-}
-
-static void
-boardinfo_show(const struct eeprom_info_s *eeprom)
-{
-	struct bson_decoder_s decoder;
-	void *buf;
-
-	buf = idrom_read(eeprom);
-	if (buf == NULL)
-		errx(1, "ID ROM read failed");
-
-	if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_print, NULL) == 0) {
-		while (bson_decoder_next(&decoder) > 0)
-			;
-	} else {
-		warnx("failed to init decoder");
-	}
-	free(buf);
-	exit(0);
-}
-
-struct {
-	const char *property;
-	const char *value;
-} test_args;
-
-static int
-boardinfo_test_callback(bson_decoder_t decoder, void *private, bson_node_t node)
-{
-	/* reject nodes with non-matching names */
-	if (strcmp(node->name, test_args.property))
-		return 1;
-
-	/* compare node values to check for a match */
-	switch (node->type) {
-	case BSON_STRING: {
-		char buf[bson_decoder_data_pending(decoder)];
-		bson_decoder_copy_data(decoder, buf);
-
-		/* check for a match */
-		if (!strcmp(test_args.value, buf)) {
-			return 2;
-		}
-		break;
-	}
-
-	case BSON_INT32: {
-		int32_t val = strtol(test_args.value, NULL, 0);
-
-		/* check for a match */
-		if (node->i == val) {
-			return 2;
-		}
-		break;
-	}
-
-	default:
-		break;
-	}
-
-	return 1;
-}
-
-static void
-boardinfo_test(const struct eeprom_info_s *eeprom, const char *property, const char *value)
-{
-	struct bson_decoder_s decoder;
-	void *buf;
-	int result = -1;
-
-	if ((property == NULL) || (strlen(property) == 0) ||
-	    (value == NULL) || (strlen(value) == 0))
-		errx(1, "missing property name or value");
-
-	test_args.property = property;
-	test_args.value = value;
-
-	buf = idrom_read(eeprom);
-	if (buf == NULL)
-		errx(1, "ID ROM read failed");
-
-	if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_test_callback, NULL) == 0) {
-		do {
-			result = bson_decoder_next(&decoder);
-		} while (result == 1);
-	} else {
-		warnx("failed to init decoder");
-	}
-	free(buf);
-
-	/* if we matched, we exit with zero success */	
-	exit((result == 2) ? 0 : 1);
-}
-
-int
-boardinfo_main(int argc, char *argv[])
-{
-	if (!strcmp(argv[1], "set"))
-		boardinfo_set(&eeprom_info[0], argv[2]);
-
-	if (!strcmp(argv[1], "show"))
-		boardinfo_show(&eeprom_info[0]);
-
-	if (!strcmp(argv[1], "test"))
-		boardinfo_test(&eeprom_info[0], argv[2], argv[3]);
-
-	errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'");
-}
diff --git a/apps/systemcmds/calibration/Makefile b/apps/systemcmds/calibration/Makefile
deleted file mode 100644
index a1735962e..000000000
--- a/apps/systemcmds/calibration/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 the calibration tool
-#
-
-APPNAME		 = calibration
-PRIORITY	 = SCHED_PRIORITY_MAX - 1
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/calibration/calibration.c b/apps/systemcmds/calibration/calibration.c
deleted file mode 100755
index 7f8b9240f..000000000
--- a/apps/systemcmds/calibration/calibration.c
+++ /dev/null
@@ -1,147 +0,0 @@
-/****************************************************************************
- * calibration.c
- *
- *   Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-static int calibrate_help(int argc, char *argv[]);
-static int calibrate_all(int argc, char *argv[]);
-
-__EXPORT int calibration_main(int argc, char *argv[]);
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-struct {
-	const char 	*name;
-	int	(* fn)(int argc, char *argv[]);
-	unsigned	options;
-#define OPT_NOHELP	(1<<0)
-#define OPT_NOALLTEST	(1<<1)
-} calibrates[] = {
-	{"range",	          range_cal,	0},
-	{"servo",	          servo_cal,	0},
-	{"all",	          calibrate_all,	OPT_NOALLTEST},
-	{"help",          calibrate_help,	OPT_NOALLTEST | OPT_NOHELP},
-	{NULL,		NULL}
-};
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-static int
-calibrate_help(int argc, char *argv[])
-{
-	unsigned	i;
-
-	printf("Available calibration routines:\n");
-
-	for (i = 0; calibrates[i].name; i++)
-		printf("  %s\n", calibrates[i].name);
-
-	return 0;
-}
-
-static int
-calibrate_all(int argc, char *argv[])
-{
-	unsigned	i;
-	char		*args[2] = {"all", NULL};
-
-	printf("Running all calibration routines...\n\n");
-
-	for (i = 0; calibrates[i].name; i++) {
-		printf("  %s:\n", calibrates[i].name);
-
-		if (calibrates[i].fn(1, args)) {
-			printf("  FAIL\n");
-
-		} else {
-			printf("  DONE\n");
-		}
-	}
-
-	return 0;
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-void press_enter(void)
-{
-	int c;
-	printf("Press CTRL+ENTER to continue... \n");
-	fflush(stdout);
-
-	do c = getchar(); while ((c != '\n') && (c != EOF));
-}
-
-/****************************************************************************
- * Name: calibrate_main
- ****************************************************************************/
-
-int calibration_main(int argc, char *argv[])
-{
-	unsigned	i;
-
-	if (argc < 2) {
-		printf("calibration: missing name - 'calibration help' for a list of routines\n");
-		return 1;
-	}
-
-	for (i = 0; calibrates[i].name; i++) {
-		if (!strcmp(calibrates[i].name, argv[1]))
-			return calibrates[i].fn(argc - 1, argv + 1);
-	}
-
-	printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]);
-	return 1;
-}
diff --git a/apps/systemcmds/calibration/calibration.h b/apps/systemcmds/calibration/calibration.h
deleted file mode 100644
index 028853ec8..000000000
--- a/apps/systemcmds/calibration/calibration.h
+++ /dev/null
@@ -1,60 +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 _CALIBRATION_H
-#define _CALIBRATION_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Types
- ****************************************************************************/
-
-/****************************************************************************
- * Public Variables
- ****************************************************************************/
-
-/****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
-
-extern int range_cal(int argc, char *argv[]);
-extern int servo_cal(int argc, char *argv[]);
-
-#endif
diff --git a/apps/systemcmds/calibration/channels_cal.c b/apps/systemcmds/calibration/channels_cal.c
deleted file mode 100755
index 575138b12..000000000
--- a/apps/systemcmds/calibration/channels_cal.c
+++ /dev/null
@@ -1,196 +0,0 @@
-/****************************************************************************
- * channels_cal.c
- *
- *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-#define ABS(a)    (((a) < 0) ? -(a) : (a))
-#define MIN(a,b)  (((a)<(b))?(a):(b))
-#define MAX(a,b) (((a)>(b))?(a):(b))
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-//Store the values here before writing them to global_data_rc_channels
-uint16_t old_values[NR_CHANNELS];
-uint16_t cur_values[NR_CHANNELS];
-uint8_t  function_map[NR_CHANNELS];
-char names[12][9];
-
-
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-void press_enter_2(void)
-{
-	int c;
-	printf("Press CTRL+ENTER to continue... \n");
-	fflush(stdout);
-
-	do c = getchar(); while ((c != '\n') && (c != EOF));
-}
-
-/**This gets all current values and writes them to min or max
- */
-uint8_t get_val(uint16_t *buffer)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < NR_CHANNELS; i++) {
-			printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw);
-			buffer[i] = global_data_rc_channels->chan[i].raw;
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-void set_channel(void)
-{
-	static uint8_t j = 0;
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		if (ABS(old_values - cur_values) > 50) {
-			function_map[j] = i;
-			strcpy(names[i], global_data_rc_channels->function_names[j]);
-			j++;
-		}
-	}
-}
-
-void write_dat(void)
-{
-	global_data_lock(&global_data_rc_channels->access_conf);
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		global_data_rc_channels->function[i] = function_map[i];
-		strcpy(global_data_rc_channels->chan[i].name, names[i]);
-
-		printf("Channel %i\t Function %s\n", i,
-		       global_data_rc_channels->chan[i].name);
-	}
-
-	global_data_unlock(&global_data_rc_channels->access_conf);
-}
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-int channels_cal(int argc, char *argv[])
-{
-
-	printf("This routine maps the input functions on the remote control\n");
-	printf("to the corresponding function (Throttle, Roll,..)\n");
-	printf("Always move the stick all the way\n");
-	press_enter_2();
-
-	printf("Pull the THROTTLE stick down\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Move the THROTTLE stick up\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	printf("Pull the PITCH stick down\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Move the PITCH stick up\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	printf("Put the ROLL stick to the left\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Put the ROLL stick to the right\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	printf("Put the YAW stick to the left\n");
-	press_enter_2();
-
-	while (get_val(old_values));
-
-	printf("Put the YAW stick to the right\n ");
-	press_enter_2();
-
-	while (get_val(cur_values));
-
-	set_channel();
-
-	uint8_t k;
-
-	for (k = 5; k < NR_CHANNELS; k++) {
-		function_map[k] = k;
-		strcpy(names[k], global_data_rc_channels->function_names[k]);
-	}
-
-//write the values to global_data_rc_channels
-	write_dat();
-
-	return 0;
-
-}
-
diff --git a/apps/systemcmds/calibration/range_cal.c b/apps/systemcmds/calibration/range_cal.c
deleted file mode 100755
index 159a0d06b..000000000
--- a/apps/systemcmds/calibration/range_cal.c
+++ /dev/null
@@ -1,224 +0,0 @@
-/****************************************************************************
- * range_cal.c
- *
- *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 <stdio.h>
-#include <stdlib.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-//Store the values here before writing them to global_data_rc_channels
-uint16_t max_values[NR_CHANNELS];
-uint16_t min_values[NR_CHANNELS];
-uint16_t mid_values[NR_CHANNELS];
-
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/**This sets the middle values
- */
-uint8_t set_mid(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < NR_CHANNELS; i++) {
-			if (i == global_data_rc_channels->function[ROLL] ||
-			    i == global_data_rc_channels->function[YAW] ||
-			    i == global_data_rc_channels->function[PITCH]) {
-
-				mid_values[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				mid_values[i] = (max_values[i] + min_values[i]) / 2;
-			}
-
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-/**This gets all current values and writes them to min or max
- */
-uint8_t get_value(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < NR_CHANNELS; i++) {
-			//see if the value is bigger or smaller than 1500 (roughly neutral)
-			//and write to the appropriate array
-			if (global_data_rc_channels->chan[i].raw != 0 &&
-			    global_data_rc_channels->chan[i].raw < 1500) {
-				min_values[i] = global_data_rc_channels->chan[i].raw;
-
-			} else if (global_data_rc_channels->chan[i].raw != 0 &&
-				   global_data_rc_channels->chan[i].raw > 1500) {
-				max_values[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				max_values[i] = 0;
-				min_values[i] = 0;
-			}
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-
-void write_data(void)
-{
-	//  global_data_lock(&global_data_rc_channels->access_conf);
-	//  uint8_t i;
-	//  for(i=0; i < NR_CHANNELS; i++){
-	//    //Write the data to global_data_rc_channels (if not 0)
-	//    if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){
-	//      global_data_rc_channels->chan[i].scaling_factor =
-	//        10000/((max_values[i] - min_values[i])/2);
-	//
-	//      global_data_rc_channels->chan[i].mid = mid_values[i];
-	//    }
-	//
-	//    printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-	//        i,
-	//        global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
-	//        min_values[i], max_values[i],
-	//        global_data_rc_channels->chan[i].scaling_factor,
-	//        global_data_rc_channels->chan[i].mid);
-	//  }
-	//  global_data_unlock(&global_data_rc_channels->access_conf);
-
-	//Write to the Parameter storage
-
-	global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0];
-	global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1];
-	global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2];
-	global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3];
-	global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4];
-	global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5];
-	global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6];
-	global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7];
-
-
-	global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0];
-	global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1];
-	global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2];
-	global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3];
-	global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4];
-	global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5];
-	global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6];
-	global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7];
-
-
-	global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0];
-	global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1];
-	global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2];
-	global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3];
-	global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4];
-	global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5];
-	global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6];
-	global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7];
-
-	usleep(3e6);
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-		       i,
-		       min_values[i], max_values[i],
-		       global_data_rc_channels->chan[i].scaling_factor,
-		       global_data_rc_channels->chan[i].mid);
-	}
-
-
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-int range_cal(int argc, char *argv[])
-{
-
-	printf("The range calibration routine assumes you already did the channel\n");
-	printf("assignment\n");
-	printf("This routine chooses the minimum, maximum and middle\n");
-	printf("value for each channel separatly. The ROLL, PITCH and YAW function\n");
-	printf("get their middle value from the RC direct, for the rest it is\n");
-	printf("calculated out of the min and max values.\n");
-	press_enter();
-
-	printf("Hold both sticks in lower left corner and continue\n ");
-	press_enter();
-	usleep(500000);
-
-	while (get_value());
-
-	printf("Hold both sticks in upper right corner and continue\n");
-	press_enter();
-	usleep(500000);
-
-	while (get_value());
-
-	printf("Set the trim to 0 and leave the sticks in the neutral position\n");
-	press_enter();
-
-	//Loop until successfull
-	while (set_mid());
-
-	//write the values to global_data_rc_channels
-	write_data();
-
-	return 0;
-
-}
-
diff --git a/apps/systemcmds/calibration/servo_cal.c b/apps/systemcmds/calibration/servo_cal.c
deleted file mode 100644
index 96b3045a9..000000000
--- a/apps/systemcmds/calibration/servo_cal.c
+++ /dev/null
@@ -1,264 +0,0 @@
-/****************************************************************************
- * servo_cal.c
- *
- *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
- *   Authors: Nils Wenzler <wenzlern@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 <stdio.h>
-#include <stdlib.h>
-#include <arch/board/drv_pwm_servo.h>
-#include <fcntl.h>
-#include "calibration.h"
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-//Store the values here before writing them to global_data_rc_channels
-uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS];
-uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS];
-uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS];
-
-// Servo loop thread
-
-pthread_t servo_calib_thread;
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/**This sets the middle values
- */
-uint8_t set_mid_s(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
-			if (i == global_data_rc_channels->function[ROLL] ||
-			    i == global_data_rc_channels->function[YAW] ||
-			    i == global_data_rc_channels->function[PITCH]) {
-
-				mid_values_servo[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2;
-			}
-
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-/**This gets all current values and writes them to min or max
- */
-uint8_t get_value_s(void)
-{
-	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
-		uint8_t i;
-
-		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
-			//see if the value is bigger or smaller than 1500 (roughly neutral)
-			//and write to the appropriate array
-			if (global_data_rc_channels->chan[i].raw != 0 &&
-			    global_data_rc_channels->chan[i].raw < 1500) {
-				min_values_servo[i] = global_data_rc_channels->chan[i].raw;
-
-			} else if (global_data_rc_channels->chan[i].raw != 0 &&
-				   global_data_rc_channels->chan[i].raw > 1500) {
-				max_values_servo[i] = global_data_rc_channels->chan[i].raw;
-
-			} else {
-				max_values_servo[i] = 0;
-				min_values_servo[i] = 0;
-			}
-		}
-
-		global_data_unlock(&global_data_rc_channels->access_conf);
-		return 0;
-
-	} else
-		return -1;
-}
-
-
-void write_data_s(void)
-{
-	//  global_data_lock(&global_data_rc_channels->access_conf);
-	//  uint8_t i;
-	//  for(i=0; i < NR_CHANNELS; i++){
-	//    //Write the data to global_data_rc_channels (if not 0)
-	//    if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){
-	//      global_data_rc_channels->chan[i].scaling_factor =
-	//        10000/((max_values_servo[i] - min_values_servo[i])/2);
-	//
-	//      global_data_rc_channels->chan[i].mid = mid_values_servo[i];
-	//    }
-	//
-	//    printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-	//        i,
-	//        global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
-	//        min_values_servo[i], max_values_servo[i],
-	//        global_data_rc_channels->chan[i].scaling_factor,
-	//        global_data_rc_channels->chan[i].mid);
-	//  }
-	//  global_data_unlock(&global_data_rc_channels->access_conf);
-
-	//Write to the Parameter storage
-
-
-
-	global_data_lock(&global_data_parameter_storage->access_conf);
-
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3];
-
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3];
-
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2];
-	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3];
-
-	global_data_unlock(&global_data_parameter_storage->access_conf);
-
-	usleep(3e6);
-	uint8_t i;
-
-	for (i = 0; i < NR_CHANNELS; i++) {
-		printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
-		       i,
-		       min_values_servo[i], max_values_servo[i],
-		       global_data_rc_channels->chan[i].scaling_factor,
-		       global_data_rc_channels->chan[i].mid);
-	}
-
-}
-
-static void *servo_loop(void *arg)
-{
-
-	// Set thread name
-	prctl(1, "calibration servo", getpid());
-
-	// initialize servos
-	int fd;
-	servo_position_t data[PWM_SERVO_MAX_CHANNELS];
-
-	fd = open("/dev/pwm_servo", O_RDWR);
-
-	if (fd < 0) {
-		printf("failed opening /dev/pwm_servo\n");
-	}
-
-	ioctl(fd, PWM_SERVO_ARM, 0);
-
-	while (1) {
-		int i;
-
-		for (i = 0; i < 4; i++) {
-			data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw;
-		}
-
-		int result = write(fd, &data, sizeof(data));
-
-		if (result != sizeof(data)) {
-			printf("failed bulk-reading channel values\n");
-		}
-
-		// 5Hz loop
-		usleep(200000);
-	}
-
-	return NULL;
-}
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-int servo_cal(int argc, char *argv[])
-{
-	//	pthread_attr_t servo_loop_attr;
-	//	pthread_attr_init(&servo_loop_attr);
-	//	pthread_attr_setstacksize(&servo_loop_attr, 1024);
-	pthread_create(&servo_calib_thread, NULL, servo_loop, NULL);
-	pthread_join(servo_calib_thread, NULL);
-
-	printf("The servo calibration routine assumes you already did the channel\n");
-	printf("assignment with 'calibration channels'\n");
-	printf("This routine chooses the minimum, maximum and middle\n");
-	printf("value for each channel separately. The ROLL, PITCH and YAW function\n");
-	printf("get their middle value from the RC direct, for the rest it is\n");
-	printf("calculated out of the min and max values.\n");
-	press_enter();
-
-	printf("Hold both sticks in lower left corner and continue\n ");
-	press_enter();
-	usleep(500000);
-
-	while (get_value_s());
-
-	printf("Hold both sticks in upper right corner and continue\n");
-	press_enter();
-	usleep(500000);
-
-	while (get_value_s());
-
-	printf("Set the trim to 0 and leave the sticks in the neutral position\n");
-	press_enter();
-
-	//Loop until successfull
-	while (set_mid_s());
-
-	//write the values to global_data_rc_channels
-	write_data_s();
-
-	return 0;
-
-}
-
diff --git a/apps/systemcmds/i2c/Makefile b/apps/systemcmds/i2c/Makefile
deleted file mode 100644
index 046e74757..000000000
--- a/apps/systemcmds/i2c/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Build the i2c test tool.
-#
-
-APPNAME		 = i2c
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/i2c/i2c.c b/apps/systemcmds/i2c/i2c.c
deleted file mode 100644
index e1babdc12..000000000
--- a/apps/systemcmds/i2c/i2c.c
+++ /dev/null
@@ -1,140 +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 i2c.c
- *
- * i2c hacking tool
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/mount.h>
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-
-#include <nuttx/i2c.h>
-
-#include <arch/board/board.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/err.h"
-
-#ifndef PX4_I2C_BUS_ONBOARD
-#  error PX4_I2C_BUS_ONBOARD not defined, no device interface
-#endif
-#ifndef PX4_I2C_OBDEV_PX4IO
-#  error PX4_I2C_OBDEV_PX4IO not defined
-#endif
-
-__EXPORT int i2c_main(int argc, char *argv[]);
-
-static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
-
-static struct i2c_dev_s *i2c;
-
-int i2c_main(int argc, char *argv[])
-{
-	/* find the right I2C */
-	i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
-
-	if (i2c == NULL)
-		errx(1, "failed to locate I2C bus");
-
-	usleep(100000);
-
-	uint8_t buf[] = { 0, 4};
-	int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0);
-
-	if (ret)
-		errx(1, "send failed - %d", ret);
-
-	uint32_t val;
-	ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val));
-	if (ret)
-		errx(1, "recive failed - %d", ret);
-
-	errx(0, "got 0x%08x", val);
-}
-
-static int
-transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
-{
-	struct i2c_msg_s msgv[2];
-	unsigned msgs;
-	int ret;
-
-	//	debug("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
-
-	msgs = 0;
-
-	if (send_len > 0) {
-		msgv[msgs].addr = address;
-		msgv[msgs].flags = 0;
-		msgv[msgs].buffer = send;
-		msgv[msgs].length = send_len;
-		msgs++;
-	}
-
-	if (recv_len > 0) {
-		msgv[msgs].addr = address;
-		msgv[msgs].flags = I2C_M_READ;
-		msgv[msgs].buffer = recv;
-		msgv[msgs].length = recv_len;
-		msgs++;
-	}
-
-	if (msgs == 0)
-		return -1;
-
-	/*
-	 * I2C architecture means there is an unavoidable race here
-	 * if there are any devices on the bus with a different frequency
-	 * preference.  Really, this is pointless.
-	 */
-	I2C_SETFREQUENCY(i2c, 400000);
-	ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
-
-	// reset the I2C bus to unwedge on error
-	if (ret != OK)
-		up_i2creset(i2c);
-
-	return ret;
-}
diff --git a/apps/systemcmds/mixer/Makefile b/apps/systemcmds/mixer/Makefile
deleted file mode 100644
index 3d8ac38cb..000000000
--- a/apps/systemcmds/mixer/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.
-#
-############################################################################
-
-#
-# Build the mixer tool.
-#
-
-APPNAME		 = mixer
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/mixer/mixer.c b/apps/systemcmds/mixer/mixer.c
deleted file mode 100644
index 55c4f0836..000000000
--- a/apps/systemcmds/mixer/mixer.c
+++ /dev/null
@@ -1,152 +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 mixer.c
- *
- * Mixer utility.
- */
-
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <ctype.h>
-#include <nuttx/compiler.h>
-
-#include <systemlib/err.h>
-#include <drivers/drv_mixer.h>
-#include <uORB/topics/actuator_controls.h>
-
-__EXPORT int mixer_main(int argc, char *argv[]);
-
-static void	usage(const char *reason) noreturn_function;
-static void	load(const char *devname, const char *fname) noreturn_function;
-
-int
-mixer_main(int argc, char *argv[])
-{
-	if (argc < 2)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "load")) {
-		if (argc < 4)
-			usage("missing device or filename");
-
-		load(argv[2], argv[3]);
-	}
-
-	usage("unrecognised command");
-}
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage:\n");
-	fprintf(stderr, "  mixer load <device> <filename>\n");
-	/* XXX other useful commands? */
-	exit(1);
-}
-
-static void
-load(const char *devname, const char *fname)
-{
-	int		dev;
-	FILE		*fp;
-	char		line[80];
-	char		buf[512];
-
-	/* open the device */
-	if ((dev = open(devname, 0)) < 0)
-		err(1, "can't open %s\n", devname);
-
-	/* reset mixers on the device */
-	if (ioctl(dev, MIXERIOCRESET, 0))
-		err(1, "can't reset mixers on %s", devname);
-
-	/* open the mixer definition file */
-	fp = fopen(fname, "r");
-	if (fp == NULL)
-		err(1, "can't open %s", fname);
-
-	/* read valid lines from the file into a buffer */
-	buf[0] = '\0';
-	for (;;) {
-
-		/* get a line, bail on error/EOF */
-		line[0] = '\0';
-		if (fgets(line, sizeof(line), fp) == NULL)
-			break;
-
-		/* if the line doesn't look like a mixer definition line, skip it */
-		if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
-			continue;
-
-		/* compact whitespace in the buffer */
-		char *t, *f;
-		for (f = buf; *f != '\0'; f++) {
-			/* scan for space characters */
-			if (*f == ' ') {
-				/* look for additional spaces */
-				t = f + 1;
-				while (*t == ' ')
-					t++;
-				if (*t == '\0') {
-					/* strip trailing whitespace */
-					*f = '\0';
-				} else if (t > (f + 1)) {
-					memmove(f + 1, t, strlen(t) + 1);
-				}
-			}
-		}
-
-		/* if the line is too long to fit in the buffer, bail */
-		if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
-			break;
-
-		/* add the line to the buffer */
-		strcat(buf, line);
-	}
-
-	/* XXX pass the buffer to the device */
-	int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
-
-	if (ret < 0)
-		err(1, "error loading mixers from %s", fname);
-	exit(0);
-}
diff --git a/apps/systemcmds/param/Makefile b/apps/systemcmds/param/Makefile
deleted file mode 100644
index f19cadbb6..000000000
--- a/apps/systemcmds/param/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.
-#
-############################################################################
-
-#
-# Build the parameters tool.
-#
-
-APPNAME		 = param
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c
deleted file mode 100644
index 56f5317e3..000000000
--- a/apps/systemcmds/param/param.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 param.c
- *
- * Parameter tool.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/stat.h>
-
-#include <arch/board/board.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
-#include "systemlib/err.h"
-
-__EXPORT int param_main(int argc, char *argv[]);
-
-static void	do_save(const char* param_file_name);
-static void	do_load(const char* param_file_name);
-static void	do_import(const char* param_file_name);
-static void	do_show(const char* search_string);
-static void	do_show_print(void *arg, param_t param);
-static void	do_set(const char* name, const char* val);
-
-int
-param_main(int argc, char *argv[])
-{
-	if (argc >= 2) {
-		if (!strcmp(argv[1], "save")) {
-			if (argc >= 3) {
-				do_save(argv[2]);
-			} else {
-				do_save(param_get_default_file());
-			}
-		}
-
-		if (!strcmp(argv[1], "load")) {
-			if (argc >= 3) {
-				do_load(argv[2]);
-			} else {
-				do_load(param_get_default_file());
-			}
-		}
-
-		if (!strcmp(argv[1], "import")) {
-			if (argc >= 3) {
-				do_import(argv[2]);
-			} else {
-				do_import(param_get_default_file());
-			}
-		}
-
-		if (!strcmp(argv[1], "select")) {
-			if (argc >= 3) {
-				param_set_default_file(argv[2]);
-			} else {
-				param_set_default_file(NULL);
-			}
-			warnx("selected parameter default file %s", param_get_default_file());
-			exit(0);
-		}
-
-		if (!strcmp(argv[1], "show")) {
-			if (argc >= 3) {
-				do_show(argv[2]);
-			} else {
-				do_show(NULL);
-			}
-		}
-
-		if (!strcmp(argv[1], "set")) {
-			if (argc >= 4) {
-				do_set(argv[2], argv[3]);
-			} else {
-				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
-			}
-		}
-	}
-	
-	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
-}
-
-static void
-do_save(const char* param_file_name)
-{
-	/* delete the parameter file in case it exists */
-	unlink(param_file_name);
-
-	/* create the file */
-	int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
-
-	if (fd < 0)
-		err(1, "opening '%s' failed", param_file_name);
-
-	int result = param_export(fd, false);
-	close(fd);
-
-	if (result < 0) {
-		unlink(param_file_name);
-		errx(1, "error exporting to '%s'", param_file_name);
-	}
-
-	exit(0);
-}
-
-static void
-do_load(const char* param_file_name)
-{
-	int fd = open(param_file_name, O_RDONLY);
-
-	if (fd < 0)
-		err(1, "open '%s'", param_file_name);
-
-	int result = param_load(fd);
-	close(fd);
-
-	if (result < 0) {
-		errx(1, "error importing from '%s'", param_file_name);
-	}
-
-	exit(0);
-}
-
-static void
-do_import(const char* param_file_name)
-{
-	int fd = open(param_file_name, O_RDONLY);
-
-	if (fd < 0)
-		err(1, "open '%s'", param_file_name);
-
-	int result = param_import(fd);
-	close(fd);
-
-	if (result < 0)
-		errx(1, "error importing from '%s'", param_file_name);
-
-	exit(0);
-}
-
-static void
-do_show(const char* search_string)
-{
-	printf(" + = saved, * = unsaved\n");
-	param_foreach(do_show_print, search_string, false);
-
-	exit(0);
-}
-
-static void
-do_show_print(void *arg, param_t param)
-{
-	int32_t i;
-	float f;
-	const char *search_string = (const char*)arg;
-
-	/* print nothing if search string is invalid and not matching */
-	if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
-		/* param not found */
-		return;
-	}
-
-	printf("%c %s: ",
-	       param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
-	       param_name(param));
-
-	/*
-	 * This case can be expanded to handle printing common structure types.
-	 */
-
-	switch (param_type(param)) {
-	case PARAM_TYPE_INT32:
-		if (!param_get(param, &i)) {
-			printf("%d\n", i);
-			return;
-		}
-
-		break;
-
-	case PARAM_TYPE_FLOAT:
-		if (!param_get(param, &f)) {
-			printf("%4.4f\n", (double)f);
-			return;
-		}
-
-		break;
-
-	case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
-		printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param));
-		return;
-
-	default:
-		printf("<unknown type %d>\n", 0 + param_type(param));
-		return;
-	}
-
-	printf("<error fetching parameter %d>\n", param);
-}
-
-static void
-do_set(const char* name, const char* val)
-{
-	int32_t i;
-	float f;
-	param_t param = param_find(name);
-
-	/* set nothing if parameter cannot be found */
-	if (param == PARAM_INVALID) {
-		/* param not found */
-		errx(1, "Error: Parameter %s not found.", name);
-	}
-
-	printf("%c %s: ",
-	       param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
-	       param_name(param));
-
-	/*
-	 * Set parameter if type is known and conversion from string to value turns out fine
-	 */
-
-	switch (param_type(param)) {
-	case PARAM_TYPE_INT32:
-		if (!param_get(param, &i)) {
-			printf("old: %d", i);
-
-			/* convert string */
-			char* end;
-			i = strtol(val,&end,10);
-			param_set(param, &i);
-			printf(" -> new: %d\n", i);
-
-		}
-
-		break;
-
-	case PARAM_TYPE_FLOAT:
-		if (!param_get(param, &f)) {
-			printf("float values are not yet supported.");
-			// printf("old: %4.4f", (double)f);
-
-			// /* convert string */
-			// char* end;
-			// f = strtof(val,&end);
-			// param_set(param, &f);
-			// printf(" -> new: %4.4f\n", f);
-
-		}
-
-		break;
-
-	default:
-		errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
-	}
-
-	exit(0);
-}
diff --git a/apps/systemcmds/perf/.context b/apps/systemcmds/perf/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/perf/.context
+++ /dev/null
diff --git a/apps/systemcmds/perf/Makefile b/apps/systemcmds/perf/Makefile
deleted file mode 100644
index f8bab41b6..000000000
--- a/apps/systemcmds/perf/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.
-#
-############################################################################
-
-#
-# perf_counter reporting tool
-#
-
-APPNAME		 = perf
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/perf/perf.c b/apps/systemcmds/perf/perf.c
deleted file mode 100644
index 64443d019..000000000
--- a/apps/systemcmds/perf/perf.c
+++ /dev/null
@@ -1,81 +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 <unistd.h>
-#include <stdio.h>
-#include <string.h>
-
-#include "systemlib/perf_counter.h"
-
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-__EXPORT int perf_main(int argc, char *argv[]);
-
-/****************************************************************************
- * user_start
- ****************************************************************************/
-
-int perf_main(int argc, char *argv[])
-{
-	if (argc > 1) {
-		if (strcmp(argv[1], "reset") == 0) {
-			perf_reset_all();
-			return 0;
-		}
-		printf("Usage: perf <reset>\n");
-		return -1;
-	}
-
-	perf_print_all();
-	fflush(stdout);
-	return 0;
-}
-
-
diff --git a/apps/systemcmds/preflight_check/Makefile b/apps/systemcmds/preflight_check/Makefile
deleted file mode 100644
index 98aadaa86..000000000
--- a/apps/systemcmds/preflight_check/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.
-#
-############################################################################
-
-#
-# Reboot command.
-#
-
-APPNAME		 = preflight_check
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/preflight_check/preflight_check.c b/apps/systemcmds/preflight_check/preflight_check.c
deleted file mode 100644
index 9ac6f0b5e..000000000
--- a/apps/systemcmds/preflight_check/preflight_check.c
+++ /dev/null
@@ -1,206 +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 reboot.c
- * Tool similar to UNIX reboot command
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <fcntl.h>
-#include <errno.h>
-
-#include <systemlib/err.h>
-
-#include <drivers/drv_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_tone_alarm.h>
-#include <drivers/drv_mag.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_baro.h>
-
-#include <mavlink/mavlink_log.h>
-
-__EXPORT int preflight_check_main(int argc, char *argv[]);
-static int led_toggle(int leds, int led);
-static int led_on(int leds, int led);
-static int led_off(int leds, int led);
-
-int preflight_check_main(int argc, char *argv[])
-{
-	bool fail_on_error = false;
-
-	if (argc > 1 && !strcmp(argv[1], "--help")) {
-		warnx("usage: preflight_check [--fail-on-error]\n\tif fail on error is enabled, will return 1 on error");
-		exit(1);
-	}
-
-	if (argc > 1 && !strcmp(argv[1], "--fail-on-error")) {
-		fail_on_error = true;
-	}
-
-	bool system_ok = true;
-
-	int fd;
-	/* open text message output path */
-	int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	int ret;
-
-	/* give the system some time to sample the sensors in the background */
-	usleep(150000);
-
-
-	/* ---- MAG ---- */
-	close(fd);
-	fd = open(MAG_DEVICE_PATH, 0);
-	if (fd < 0) {
-		warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");
-		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG");
-		system_ok = false;
-		goto system_eval;
-	}
-	ret = ioctl(fd, MAGIOCSELFTEST, 0);
-	
-	if (ret != OK) {
-		warnx("magnetometer calibration missing or bad - calibrate magnetometer first");
-		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CALIBRATION");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	/* ---- ACCEL ---- */
-
-	close(fd);
-	fd = open(ACCEL_DEVICE_PATH, 0);
-	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
-	
-	if (ret != OK) {
-		warnx("accel self test failed");
-		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	/* ---- GYRO ---- */
-
-	close(fd);
-	fd = open(GYRO_DEVICE_PATH, 0);
-	ret = ioctl(fd, GYROIOCSELFTEST, 0);
-	
-	if (ret != OK) {
-		warnx("gyro self test failed");
-		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK");
-		system_ok = false;
-		goto system_eval;
-	}
-
-	/* ---- BARO ---- */
-
-	close(fd);
-	fd = open(BARO_DEVICE_PATH, 0);
-
-		
-
-system_eval:
-	
-	if (system_ok) {
-		/* all good, exit silently */
-		exit(0);
-	} else {
-		fflush(stdout);
-
-		int buzzer = open("/dev/tone_alarm", O_WRONLY);
-		int leds = open(LED_DEVICE_PATH, 0);
-
-		/* flip blue led into alternating amber */
-		led_off(leds, LED_BLUE);
-		led_off(leds, LED_AMBER);
-		led_toggle(leds, LED_BLUE);
-
-		/* display and sound error */
-		for (int i = 0; i < 150; i++)
-		{
-			led_toggle(leds, LED_BLUE);
-			led_toggle(leds, LED_AMBER);
-
-			if (i % 10 == 0) {
-				ioctl(buzzer, TONE_SET_ALARM, 4);
-			} else if (i % 5 == 0) {
-				ioctl(buzzer, TONE_SET_ALARM, 2);
-			}
-			usleep(100000);
-		}
-
-		/* stop alarm */
-		ioctl(buzzer, TONE_SET_ALARM, 0);
-
-		/* switch on leds */
-		led_on(leds, LED_BLUE);
-		led_on(leds, LED_AMBER);
-
-		if (fail_on_error) {
-			/* exit with error message */
-			exit(1);
-		} else {
-			/* do not emit an error code to make sure system still boots */
-			exit(0);
-		}
-	}
-}
-
-static int led_toggle(int leds, int led)
-{
-	static int last_blue = LED_ON;
-	static int last_amber = LED_ON;
-
-	if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
-
-	if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
-
-	return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
-}
-
-static int led_off(int leds, int led)
-{
-	return ioctl(leds, LED_OFF, led);
-}
-
-static int led_on(int leds, int led)
-{
-	return ioctl(leds, LED_ON, led);
-}
\ No newline at end of file
diff --git a/apps/systemcmds/pwm/Makefile b/apps/systemcmds/pwm/Makefile
deleted file mode 100644
index 5ab105ed1..000000000
--- a/apps/systemcmds/pwm/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Build the pwm tool.
-#
-
-APPNAME		 = pwm
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/pwm/pwm.c b/apps/systemcmds/pwm/pwm.c
deleted file mode 100644
index de7a53199..000000000
--- a/apps/systemcmds/pwm/pwm.c
+++ /dev/null
@@ -1,233 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 pwm.c
- *
- * PWM servo output configuration and monitoring tool.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/mount.h>
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-
-#include <nuttx/i2c.h>
-#include <nuttx/mtd.h>
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
-#include <arch/board/board.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/err.h"
-#include "drivers/drv_pwm_output.h"
-
-static void	usage(const char *reason);
-__EXPORT int	pwm_main(int argc, char *argv[]);
-
-
-static void
-usage(const char *reason)
-{
-	if (reason != NULL)
-		warnx("%s", reason);
-	errx(1, 
-		"usage:\n"
-		"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [arm|disarm] [<channel_value> ...]\n"
-		"  -v                 Print information about the PWM device\n"
-		"  <device>           PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
-		"  <alt_rate>         PWM update rate for channels in <alt_channel_mask>\n"
-		"  <channel_group>    Channel group that should update at the alternate rate (may be specified more than once)\n"
-		"  arm | disarm       Arm or disarm the ouptut\n"
-		"  <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n"
-		"\n"
-		"When -c is specified, any channel groups not listed with -c will update at the default rate.\n"
-		);
-
-}
-
-int
-pwm_main(int argc, char *argv[])
-{
-	const char *dev = PWM_OUTPUT_DEVICE_PATH;
-	unsigned alt_rate = 0;
-	uint32_t alt_channel_groups = 0;
-	bool alt_channels_set = false;
-	bool print_info = false;
-	int ch;
-	int ret;
-	char *ep;
-	unsigned group;
-
-	if (argc < 2)
-		usage(NULL);
-
-	while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) {
-		switch (ch) {
-		case 'c':
-			group = strtoul(optarg, &ep, 0);
-			if ((*ep != '\0') || (group >= 32))
-				usage("bad channel_group value");
-			alt_channel_groups |= (1 << group);
-			alt_channels_set = true;
-			break;
-
-		case 'd':
-			dev = optarg;
-			break;
-
-		case 'u':
-			alt_rate = strtol(optarg, &ep, 0);
-			if (*ep != '\0')
-				usage("bad alt_rate value");
-			break;
-
-		case 'v':
-			print_info = true;
-			break;
-
-		default:
-			usage(NULL);
-		}
-	}
-	argc -= optind;
-	argv += optind;
-
-	/* open for ioctl only */
-	int fd = open(dev, 0);
-	if (fd < 0)
-		err(1, "can't open %s", dev);
-
-	/* change alternate PWM rate */
-	if (alt_rate > 0) {
-		ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
-		if (ret != OK)
-			err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
-	}
-
-	/* assign alternate rate to channel groups */
-	if (alt_channels_set) {
-		uint32_t mask = 0;
-
-		for (unsigned group = 0; group < 32; group++) {
-			if ((1 << group) & alt_channel_groups) {
-				uint32_t group_mask;
-
-				ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
-				if (ret != OK)
-					err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group);
-
-				mask |= group_mask;
-			}
-		}
-
-		ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, mask);
-		if (ret != OK)
-			err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
-	}
-
-	/* iterate remaining arguments */
-	unsigned channel = 0;
-	while (argc--) {
-		const char *arg = argv[0];
-		argv++;
-		if (!strcmp(arg, "arm")) {
-			ret = ioctl(fd, PWM_SERVO_ARM, 0);
-			if (ret != OK)
-				err(1, "PWM_SERVO_ARM");
-			continue;
-		}
-		if (!strcmp(arg, "disarm")) {
-			ret = ioctl(fd, PWM_SERVO_DISARM, 0);
-			if (ret != OK)
-				err(1, "PWM_SERVO_DISARM");
-			continue;
-		}
-		unsigned pwm_value = strtol(arg, &ep, 0);
-		if (*ep == '\0') {
-			ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value);
-			if (ret != OK)
-				err(1, "PWM_SERVO_SET(%d)", channel);
-			channel++;
-			continue;
-		}
-		usage("unrecognised option");
-	}
-
-	/* print verbose info */
-	if (print_info) {
-		/* get the number of servo channels */
-		unsigned count;
-		ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&count);
-		if (ret != OK)
-			err(1, "PWM_SERVO_GET_COUNT");
-
-		/* print current servo values */
-		for (unsigned i = 0; i < count; i++) {
-			servo_position_t spos;
-
-			ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
-			if (ret == OK) {
-				printf("channel %u: %uus\n", i, spos);
-			} else {
-				printf("%u: ERROR\n", i);
-			}
-		}
-
-		/* print rate groups */
-		for (unsigned i = 0; i < count; i++) {
-			uint32_t group_mask;
-
-			ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
-			if (ret != OK)
-				break;
-			if (group_mask != 0) {
-				printf("channel group %u: channels", i);
-				for (unsigned j = 0; j < 32; j++)
-					if (group_mask & (1 << j))
-						printf(" %u", j);
-				printf("\n");
-			}
-		}
-		fflush(stdout);
-	}
-	exit(0);
-}
\ No newline at end of file
diff --git a/apps/systemcmds/reboot/.context b/apps/systemcmds/reboot/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/reboot/.context
+++ /dev/null
diff --git a/apps/systemcmds/reboot/Makefile b/apps/systemcmds/reboot/Makefile
deleted file mode 100644
index 15dd19982..000000000
--- a/apps/systemcmds/reboot/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.
-#
-############################################################################
-
-#
-# Reboot command.
-#
-
-APPNAME		 = reboot
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/reboot/reboot.c b/apps/systemcmds/reboot/reboot.c
deleted file mode 100644
index 47d3cd948..000000000
--- a/apps/systemcmds/reboot/reboot.c
+++ /dev/null
@@ -1,53 +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 reboot.c
- * Tool similar to UNIX reboot command
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdio.h>
-
-#include <systemlib/systemlib.h>
-
-__EXPORT int reboot_main(int argc, char *argv[]);
-
-int reboot_main(int argc, char *argv[])
-{
-	up_systemreset();
-}
-
-
diff --git a/apps/systemcmds/top/.context b/apps/systemcmds/top/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/systemcmds/top/.context
+++ /dev/null
diff --git a/apps/systemcmds/top/Makefile b/apps/systemcmds/top/Makefile
deleted file mode 100644
index f58f9212e..000000000
--- a/apps/systemcmds/top/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.
-#
-############################################################################
-
-#
-# realtime system performance display
-#
-
-APPNAME		 = top
-PRIORITY	 = SCHED_PRIORITY_DEFAULT - 10
-STACKSIZE	 = 3000
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os
diff --git a/apps/systemcmds/top/top.c b/apps/systemcmds/top/top.c
deleted file mode 100644
index 59d2bc8f1..000000000
--- a/apps/systemcmds/top/top.c
+++ /dev/null
@@ -1,253 +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 top.c
- * Tool similar to UNIX top command
- * @see http://en.wikipedia.org/wiki/Top_unix
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <fcntl.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <string.h>
-#include <poll.h>
-
-#include <systemlib/cpuload.h>
-#include <drivers/drv_hrt.h>
-
-/**
- * Start the top application.
- */
-__EXPORT int top_main(int argc, char *argv[]);
-
-extern struct system_load_s system_load;
-
-bool top_sigusr1_rcvd = false;
-
-int top_main(int argc, char *argv[])
-{
-	int t;
-
-	uint64_t total_user_time = 0;
-
-	int running_count = 0;
-	int blocked_count = 0;
-
-	uint64_t new_time = hrt_absolute_time();
-	uint64_t interval_start_time = new_time;
-
-	uint64_t last_times[CONFIG_MAX_TASKS];
-	float curr_loads[CONFIG_MAX_TASKS];
-
-	for (t = 0; t < CONFIG_MAX_TASKS; t++)
-		last_times[t] = 0;
-
-	float interval_time_ms_inv = 0.f;
-
-	/* Open console directly to grab CTRL-C signal */
-	int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
-
-	while (true)
-//	for (t = 0; t < 10; t++)
-	{
-		int i;
-
-		uint64_t curr_time_ms = (hrt_absolute_time() / 1000LLU);
-		unsigned int curr_time_s = curr_time_ms / 1000LLU;
-
-		uint64_t idle_time_total_ms = (system_load.tasks[0].total_runtime / 1000LLU);
-		unsigned int idle_time_total_s = idle_time_total_ms / 1000LLU;
-
-		if (new_time > interval_start_time)
-			interval_time_ms_inv = 1.f / ((float)((new_time - interval_start_time) / 1000));
-
-		running_count = 0;
-		blocked_count = 0;
-		total_user_time = 0;
-
-		for (i = 0; i < CONFIG_MAX_TASKS; i++) {
-			uint64_t interval_runtime = (system_load.tasks[i].valid && last_times[i] > 0 && system_load.tasks[i].total_runtime > last_times[i]) ? (system_load.tasks[i].total_runtime - last_times[i]) / 1000 : 0;
-
-			last_times[i] = system_load.tasks[i].total_runtime;
-
-			if (system_load.tasks[i].valid && (new_time > interval_start_time)) {
-				curr_loads[i] = interval_runtime * interval_time_ms_inv;
-
-				if (i > 0)
-					total_user_time += interval_runtime;
-
-			} else
-				curr_loads[i] = 0;
-		}
-
-		for (i = 0; i < CONFIG_MAX_TASKS; i++) {
-			if (system_load.tasks[i].valid && (new_time > interval_start_time)) {
-				if (system_load.tasks[i].tcb->pid == 0) {
-					float idle = curr_loads[0];
-					float task_load = (float)(total_user_time) * interval_time_ms_inv;
-
-					if (task_load > (1.f - idle)) task_load = (1.f - idle);	/* this can happen if one tasks total runtime was not computed correctly by the scheduler instrumentation TODO */
-
-					float sched_load = 1.f - idle - task_load;
-
-					/* print system information */
-					printf("\033[H"); /* cursor home */
-					printf("\033[KProcesses: %d total, %d running, %d sleeping\n", system_load.total_count, running_count, blocked_count);
-					printf("\033[KCPU usage: %d.%02d%% tasks, %d.%02d%% sched, %d.%02d%% idle\n", (int)(task_load * 100), (int)((task_load * 10000.0f) - (int)(task_load * 100.0f) * 100), (int)(sched_load * 100), (int)((sched_load * 10000.0f) - (int)(sched_load * 100.0f) * 100), (int)(idle * 100), (int)((idle * 10000.0f) - ((int)(idle * 100)) * 100));
-					printf("\033[KUptime: %u.%03u s total, %d.%03d s idle\n\033[K\n", curr_time_s, (unsigned int)(curr_time_ms - curr_time_s * 1000LLU), idle_time_total_s, (int)(idle_time_total_ms - idle_time_total_s * 1000));
-
-					/* 34 chars command name length (32 chars plus two spaces) */
-					char header_spaces[CONFIG_TASK_NAME_SIZE + 1];
-					memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE);
-					header_spaces[CONFIG_TASK_NAME_SIZE] = '\0';
-#if CONFIG_RR_INTERVAL > 0
-					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
-#else
-					printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces);
-#endif
-
-				} else {
-					enum tstate_e task_state = (enum tstate_e)system_load.tasks[i].tcb->task_state;
-
-					if (task_state == TSTATE_TASK_PENDING ||
-					    task_state == TSTATE_TASK_READYTORUN ||
-					    task_state == TSTATE_TASK_RUNNING) {
-						running_count++;
-					}
-
-					if (task_state == TSTATE_TASK_INACTIVE ||      /* BLOCKED      - Initialized but not yet activated */
-					    task_state == TSTATE_WAIT_SEM           /* BLOCKED      - Waiting for a semaphore */
-#ifndef CONFIG_DISABLE_SIGNALS
-					    || task_state == TSTATE_WAIT_SIG           /* BLOCKED      - Waiting for a signal */
-#endif
-#ifndef CONFIG_DISABLE_MQUEUE
-					    || task_state == TSTATE_WAIT_MQNOTEMPTY     /* BLOCKED      - Waiting for a MQ to become not empty. */
-					    || task_state == TSTATE_WAIT_MQNOTFULL      /* BLOCKED      - Waiting for a MQ to become not full. */
-#endif
-#ifdef CONFIG_PAGING
-					    || task_state == TSTATE_WAIT_PAGEFILL       /* BLOCKED      - Waiting for page fill */
-#endif
-					   ) {
-						blocked_count++;
-					}
-
-					char spaces[CONFIG_TASK_NAME_SIZE + 2];
-
-					/* count name len */
-					int namelen = 0;
-
-					while (namelen < CONFIG_TASK_NAME_SIZE) {
-						if (system_load.tasks[i].tcb->name[namelen] == '\0') break;
-
-						namelen++;
-					}
-
-					int s = 0;
-
-					for (s = 0; s < CONFIG_TASK_NAME_SIZE + 2 - namelen; s++) {
-						spaces[s] = ' ';
-					}
-
-					spaces[s] = '\0';
-
-					char *runtime_spaces = "  ";
-
-					if ((system_load.tasks[i].total_runtime / 1000) < 99) {
-						runtime_spaces = "";
-					}
-
-					unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
-							      (uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
-					unsigned stack_free = 0;
-					uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
-
-					while (stack_free < stack_size) {
-						if (*stack_sweeper++ != 0xff)
-							break;
-
-						stack_free++;
-					}
-
-					printf("\033[K % 2d\t%s%s % 8lld ms%s  \t % 2d.%03d \t % 4u / % 4u",
-					       (int)system_load.tasks[i].tcb->pid,
-					       system_load.tasks[i].tcb->name,
-					       spaces,
-					       (system_load.tasks[i].total_runtime / 1000),
-					       runtime_spaces,
-					       (int)(curr_loads[i] * 100),
-					       (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100),
-					       stack_size - stack_free,
-					       stack_size);
-					/* Print scheduling info with RR time slice */
-#if CONFIG_RR_INTERVAL > 0
-					printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice);
-#else
-					/* Print scheduling info without time slice*/
-					printf("\t%d (%d)\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority);
-#endif
-				}
-			}
-		}
-
-		printf("\033[K[ Hit Ctrl-C to quit. ]\n\033[J");
-		fflush(stdout);
-
-		interval_start_time = new_time;
-
-		char c;
-
-		/* Sleep 200 ms waiting for user input four times */
-		/* XXX use poll ... */
-		for (int k = 0; k < 4; k++) {
-			if (read(console, &c, 1) == 1) {
-				if (c == 0x03 || c == 0x63) {
-					printf("Abort\n");
-					close(console);
-					return OK;
-				}
-			}
-
-			usleep(200000);
-		}
-
-		new_time = hrt_absolute_time();
-	}
-
-	close(console);
-
-	return OK;
-}