Moved math library to library dir, improved sensor-level HIL, cleaned up geo / conversion libs

31 files changed, 0 insertions, 3548 deletions

diff --git a/src/modules/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp
deleted file mode 100644
index f509f7081..000000000
--- a/src/modules/mathlib/math/Dcm.cpp
+++ /dev/null
@@ -1,174 +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 Dcm.cpp
- *
- * math direction cosine matrix
- */
-
-#include <mathlib/math/test/test.hpp>
-
-#include "Dcm.hpp"
-#include "Quaternion.hpp"
-#include "EulerAngles.hpp"
-#include "Vector3.hpp"
-
-namespace math
-{
-
-Dcm::Dcm() :
-	Matrix(Matrix::identity(3))
-{
-}
-
-Dcm::Dcm(float c00, float c01, float c02,
-	 float c10, float c11, float c12,
-	 float c20, float c21, float c22) :
-	Matrix(3, 3)
-{
-	Dcm &dcm = *this;
-	dcm(0, 0) = c00;
-	dcm(0, 1) = c01;
-	dcm(0, 2) = c02;
-	dcm(1, 0) = c10;
-	dcm(1, 1) = c11;
-	dcm(1, 2) = c12;
-	dcm(2, 0) = c20;
-	dcm(2, 1) = c21;
-	dcm(2, 2) = c22;
-}
-
-Dcm::Dcm(const float data[3][3]) :
-	Matrix(3, 3)
-{
-	Dcm &dcm = *this;
-	/* set rotation matrix */
-	for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
-		dcm(i, j) = data[i][j];
-}
-
-Dcm::Dcm(const float *data) :
-	Matrix(3, 3, data)
-{
-}
-
-Dcm::Dcm(const Quaternion &q) :
-	Matrix(3, 3)
-{
-	Dcm &dcm = *this;
-	double a = q.getA();
-	double b = q.getB();
-	double c = q.getC();
-	double d = q.getD();
-	double aSq = a * a;
-	double bSq = b * b;
-	double cSq = c * c;
-	double dSq = d * d;
-	dcm(0, 0) = aSq + bSq - cSq - dSq;
-	dcm(0, 1) = 2.0 * (b * c - a * d);
-	dcm(0, 2) = 2.0 * (a * c + b * d);
-	dcm(1, 0) = 2.0 * (b * c + a * d);
-	dcm(1, 1) = aSq - bSq + cSq - dSq;
-	dcm(1, 2) = 2.0 * (c * d - a * b);
-	dcm(2, 0) = 2.0 * (b * d - a * c);
-	dcm(2, 1) = 2.0 * (a * b + c * d);
-	dcm(2, 2) = aSq - bSq - cSq + dSq;
-}
-
-Dcm::Dcm(const EulerAngles &euler) :
-	Matrix(3, 3)
-{
-	Dcm &dcm = *this;
-	double cosPhi = cos(euler.getPhi());
-	double sinPhi = sin(euler.getPhi());
-	double cosThe = cos(euler.getTheta());
-	double sinThe = sin(euler.getTheta());
-	double cosPsi = cos(euler.getPsi());
-	double sinPsi = sin(euler.getPsi());
-
-	dcm(0, 0) = cosThe * cosPsi;
-	dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
-	dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
-
-	dcm(1, 0) = cosThe * sinPsi;
-	dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
-	dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
-
-	dcm(2, 0) = -sinThe;
-	dcm(2, 1) = sinPhi * cosThe;
-	dcm(2, 2) = cosPhi * cosThe;
-}
-
-Dcm::Dcm(const Dcm &right) :
-	Matrix(right)
-{
-}
-
-Dcm::~Dcm()
-{
-}
-
-int __EXPORT dcmTest()
-{
-	printf("Test DCM\t\t: ");
-	// default ctor
-	ASSERT(matrixEqual(Dcm(),
-			   Matrix::identity(3)));
-	// quaternion ctor
-	ASSERT(matrixEqual(
-		       Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
-		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
-			   0.2896295f,  0.9564251f, -0.0369570f,
-			   -0.1986693f,  0.0978434f,  0.9751703f)));
-	// euler angle ctor
-	ASSERT(matrixEqual(
-		       Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
-		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
-			   0.2896295f,  0.9564251f, -0.0369570f,
-			   -0.1986693f,  0.0978434f,  0.9751703f)));
-	// rotations
-	Vector3 vB(1, 2, 3);
-	ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
-			   Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
-	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
-			   Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
-	ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
-			   Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
-	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
-			   Dcm(EulerAngles(
-				       M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
-	printf("PASS\n");
-	return 0;
-}
-} // namespace math
diff --git a/src/modules/mathlib/math/Dcm.hpp b/src/modules/mathlib/math/Dcm.hpp
deleted file mode 100644
index df8970d3a..000000000
--- a/src/modules/mathlib/math/Dcm.hpp
+++ /dev/null
@@ -1,108 +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 Dcm.hpp
- *
- * math direction cosine matrix
- */
-
-//#pragma once
-
-#include "Vector.hpp"
-#include "Matrix.hpp"
-
-namespace math
-{
-
-class Quaternion;
-class EulerAngles;
-
-/**
- * This is a Tait Bryan, Body 3-2-1 sequence.
- * (yaw)-(pitch)-(roll)
- * The Dcm transforms a vector in the body frame
- * to the navigation frame, typically represented
- * as C_nb. C_bn can be obtained through use
- * of the transpose() method.
- */
-class __EXPORT Dcm : public Matrix
-{
-public:
-	/**
-	 * default ctor
-	 */
-	Dcm();
-
-	/**
-	 * scalar ctor
-	 */
-	Dcm(float c00, float c01, float c02,
-	    float c10, float c11, float c12,
-	    float c20, float c21, float c22);
-
-	/**
-	 * data ctor
-	 */
-	Dcm(const float *data);
-
-	/**
-	 * array ctor
-	 */
-	Dcm(const float data[3][3]);
-
-	/**
-	 * quaternion ctor
-	 */
-	Dcm(const Quaternion &q);
-
-	/**
-	 * euler angles ctor
-	 */
-	Dcm(const EulerAngles &euler);
-
-	/**
-	 * copy ctor (deep)
-	 */
-	Dcm(const Dcm &right);
-
-	/**
-	 * dtor
-	 */
-	virtual ~Dcm();
-};
-
-int __EXPORT dcmTest();
-
-} // math
-
diff --git a/src/modules/mathlib/math/EulerAngles.cpp b/src/modules/mathlib/math/EulerAngles.cpp
deleted file mode 100644
index e733d23bb..000000000
--- a/src/modules/mathlib/math/EulerAngles.cpp
+++ /dev/null
@@ -1,126 +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 Vector.cpp
- *
- * math vector
- */
-
-#include "test/test.hpp"
-
-#include "EulerAngles.hpp"
-#include "Quaternion.hpp"
-#include "Dcm.hpp"
-#include "Vector3.hpp"
-
-namespace math
-{
-
-EulerAngles::EulerAngles() :
-	Vector(3)
-{
-	setPhi(0.0f);
-	setTheta(0.0f);
-	setPsi(0.0f);
-}
-
-EulerAngles::EulerAngles(float phi, float theta, float psi) :
-	Vector(3)
-{
-	setPhi(phi);
-	setTheta(theta);
-	setPsi(psi);
-}
-
-EulerAngles::EulerAngles(const Quaternion &q) :
-	Vector(3)
-{
-	(*this) = EulerAngles(Dcm(q));
-}
-
-EulerAngles::EulerAngles(const Dcm &dcm) :
-	Vector(3)
-{
-	setTheta(asinf(-dcm(2, 0)));
-
-	if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
-		setPhi(0.0f);
-		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
-			      dcm(0, 2) + dcm(1, 1)) + getPhi());
-
-	} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
-		setPhi(0.0f);
-		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
-			      dcm(0, 2) + dcm(1, 1)) - getPhi());
-
-	} else {
-		setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
-		setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
-	}
-}
-
-EulerAngles::~EulerAngles()
-{
-}
-
-int __EXPORT eulerAnglesTest()
-{
-	printf("Test EulerAngles\t: ");
-	EulerAngles euler(0.1f, 0.2f, 0.3f);
-
-	// test ctor
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
-	ASSERT(equal(euler.getPhi(), 0.1f));
-	ASSERT(equal(euler.getTheta(), 0.2f));
-	ASSERT(equal(euler.getPsi(), 0.3f));
-
-	// test dcm ctor
-	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
-
-	// test quat ctor
-	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
-
-	// test assignment
-	euler.setPhi(0.4f);
-	euler.setTheta(0.5f);
-	euler.setPsi(0.6f);
-	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
-
-	printf("PASS\n");
-	return 0;
-}
-
-} // namespace math
diff --git a/src/modules/mathlib/math/EulerAngles.hpp b/src/modules/mathlib/math/EulerAngles.hpp
deleted file mode 100644
index 399eecfa7..000000000
--- a/src/modules/mathlib/math/EulerAngles.hpp
+++ /dev/null
@@ -1,74 +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 Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include "Vector.hpp"
-
-namespace math
-{
-
-class Quaternion;
-class Dcm;
-
-class __EXPORT EulerAngles : public Vector
-{
-public:
-	EulerAngles();
-	EulerAngles(float phi, float theta, float psi);
-	EulerAngles(const Quaternion &q);
-	EulerAngles(const Dcm &dcm);
-	virtual ~EulerAngles();
-
-	// alias
-	void setPhi(float phi) { (*this)(0) = phi; }
-	void setTheta(float theta) { (*this)(1) = theta; }
-	void setPsi(float psi) { (*this)(2) = psi; }
-
-	// const accessors
-	const float &getPhi() const { return (*this)(0); }
-	const float &getTheta() const { return (*this)(1); }
-	const float &getPsi() const { return (*this)(2); }
-
-};
-
-int __EXPORT eulerAnglesTest();
-
-} // math
-
diff --git a/src/modules/mathlib/math/Limits.cpp b/src/modules/mathlib/math/Limits.cpp
deleted file mode 100644
index d4c892d8a..000000000
--- a/src/modules/mathlib/math/Limits.cpp
+++ /dev/null
@@ -1,146 +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 Limits.cpp
- *
- * Limiting / constrain helper functions
- */
-
-
-#include <math.h>
-#include <stdint.h>
-
-#include "Limits.hpp"
-
-
-namespace math {
-
-
-float __EXPORT min(float val1, float val2)
-{
-	return (val1 < val2) ? val1 : val2;
-}
-
-int __EXPORT min(int val1, int val2)
-{
-	return (val1 < val2) ? val1 : val2;
-}
-
-unsigned __EXPORT min(unsigned val1, unsigned val2)
-{
-	return (val1 < val2) ? val1 : val2;
-}
-
-uint64_t __EXPORT min(uint64_t val1, uint64_t val2)
-{
-	return (val1 < val2) ? val1 : val2;
-}
-
-double __EXPORT min(double val1, double val2)
-{
-	return (val1 < val2) ? val1 : val2;
-}
-
-float __EXPORT max(float val1, float val2)
-{
-	return (val1 > val2) ? val1 : val2;
-}
-
-int __EXPORT max(int val1, int val2)
-{
-	return (val1 > val2) ? val1 : val2;
-}
-
-unsigned __EXPORT max(unsigned val1, unsigned val2)
-{
-	return (val1 > val2) ? val1 : val2;
-}
-
-uint64_t __EXPORT max(uint64_t val1, uint64_t val2)
-{
-	return (val1 > val2) ? val1 : val2;
-}
-
-double __EXPORT max(double val1, double val2)
-{
-	return (val1 > val2) ? val1 : val2;
-}
-
-
-float __EXPORT constrain(float val, float min, float max)
-{
-	return (val < min) ? min : ((val > max) ? max : val);
-}
-
-int __EXPORT constrain(int val, int min, int max)
-{
-	return (val < min) ? min : ((val > max) ? max : val);
-}
-
-unsigned __EXPORT constrain(unsigned val, unsigned min, unsigned max)
-{
-	return (val < min) ? min : ((val > max) ? max : val);
-}
-
-uint64_t __EXPORT constrain(uint64_t val, uint64_t min, uint64_t max)
-{
-	return (val < min) ? min : ((val > max) ? max : val);
-}
-
-double __EXPORT constrain(double val, double min, double max)
-{
-	return (val < min) ? min : ((val > max) ? max : val);
-}
-
-float __EXPORT radians(float degrees)
-{
-	return (degrees / 180.0f) * M_PI_F;
-}
-
-double __EXPORT radians(double degrees)
-{
-	return (degrees / 180.0) * M_PI;
-}
-
-float __EXPORT degrees(float radians)
-{
-	return (radians / M_PI_F) * 180.0f;
-}
-
-double __EXPORT degrees(double radians)
-{
-	return (radians / M_PI) * 180.0;
-}
-
-}
\ No newline at end of file
diff --git a/src/modules/mathlib/math/Limits.hpp b/src/modules/mathlib/math/Limits.hpp
deleted file mode 100644
index fb778dd66..000000000
--- a/src/modules/mathlib/math/Limits.hpp
+++ /dev/null
@@ -1,87 +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 Limits.hpp
- *
- * Limiting / constrain helper functions
- */
-
-#pragma once
-
-#include <nuttx/config.h>
-#include <stdint.h>
-
-namespace math {
-
-
-float __EXPORT min(float val1, float val2);
-
-int __EXPORT min(int val1, int val2);
-
-unsigned __EXPORT min(unsigned val1, unsigned val2);
-
-uint64_t __EXPORT min(uint64_t val1, uint64_t val2);
-
-double __EXPORT min(double val1, double val2);
-
-float __EXPORT max(float val1, float val2);
-
-int __EXPORT max(int val1, int val2);
-
-unsigned __EXPORT max(unsigned val1, unsigned val2);
-
-uint64_t __EXPORT max(uint64_t val1, uint64_t val2);
-
-double __EXPORT max(double val1, double val2);
-
-
-float __EXPORT constrain(float val, float min, float max);
-
-int __EXPORT constrain(int val, int min, int max);
-
-unsigned __EXPORT constrain(unsigned val, unsigned min, unsigned max);
-
-uint64_t __EXPORT constrain(uint64_t val, uint64_t min, uint64_t max);
-
-double __EXPORT constrain(double val, double min, double max);
-
-float __EXPORT radians(float degrees);
-
-double __EXPORT radians(double degrees);
-
-float __EXPORT degrees(float radians);
-
-double __EXPORT degrees(double radians);
-
-}
\ No newline at end of file
diff --git a/src/modules/mathlib/math/Matrix.cpp b/src/modules/mathlib/math/Matrix.cpp
deleted file mode 100644
index ebd1aeda3..000000000
--- a/src/modules/mathlib/math/Matrix.cpp
+++ /dev/null
@@ -1,193 +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 Matrix.cpp
- *
- * matrix code
- */
-
-#include "test/test.hpp"
-#include <math.h>
-
-#include "Matrix.hpp"
-
-namespace math
-{
-
-static const float data_testA[] = {
-	1, 2, 3,
-	4, 5, 6
-};
-static Matrix testA(2, 3, data_testA);
-
-static const float data_testB[] = {
-	0, 1, 3,
-	7, -1, 2
-};
-static Matrix testB(2, 3, data_testB);
-
-static const float data_testC[] = {
-	0, 1,
-	2, 1,
-	3, 2
-};
-static Matrix testC(3, 2, data_testC);
-
-static const float data_testD[] = {
-	0, 1, 2,
-	2, 1, 4,
-	5, 2, 0
-};
-static Matrix testD(3, 3, data_testD);
-
-static const float data_testE[] = {
-	1, -1, 2,
-	0, 2, 3,
-	2, -1, 1
-};
-static Matrix testE(3, 3, data_testE);
-
-static const float data_testF[] = {
-	3.777e006f, 2.915e007f, 0.000e000f,
-	2.938e007f, 2.267e008f, 0.000e000f,
-	0.000e000f, 0.000e000f, 6.033e008f
-};
-static Matrix testF(3, 3, data_testF);
-
-int __EXPORT matrixTest()
-{
-	matrixAddTest();
-	matrixSubTest();
-	matrixMultTest();
-	matrixInvTest();
-	matrixDivTest();
-	return 0;
-}
-
-int matrixAddTest()
-{
-	printf("Test Matrix Add\t\t: ");
-	Matrix r = testA + testB;
-	float data_test[] = {
-		1.0f, 3.0f, 6.0f,
-		11.0f, 4.0f, 8.0f
-	};
-	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixSubTest()
-{
-	printf("Test Matrix Sub\t\t: ");
-	Matrix r = testA - testB;
-	float data_test[] = {
-		1.0f, 1.0f, 0.0f,
-		-3.0f, 6.0f, 4.0f
-	};
-	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixMultTest()
-{
-	printf("Test Matrix Mult\t: ");
-	Matrix r = testC * testB;
-	float data_test[] = {
-		7.0f, -1.0f,  2.0f,
-		7.0f,  1.0f,  8.0f,
-		14.0f,  1.0f, 13.0f
-	};
-	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixInvTest()
-{
-	printf("Test Matrix Inv\t\t: ");
-	Matrix origF = testF;
-	Matrix r = testF.inverse();
-	float data_test[] = {
-		-0.0012518f,  0.0001610f, 0.0000000f,
-		0.0001622f, -0.0000209f, 0.0000000f,
-		0.0000000f,  0.0000000f, 1.6580e-9f
-	};
-	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
-	// make sure F in unchanged
-	ASSERT(matrixEqual(origF, testF));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixDivTest()
-{
-	printf("Test Matrix Div\t\t: ");
-	Matrix r = testD / testE;
-	float data_test[] = {
-		0.2222222f, 0.5555556f, -0.1111111f,
-		0.0f,       1.0f,         1.0,
-		-4.1111111f, 1.2222222f,  4.5555556f
-	};
-	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-bool matrixEqual(const Matrix &a, const Matrix &b, float eps)
-{
-	if (a.getRows() != b.getRows()) {
-		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
-		return false;
-
-	} else if (a.getCols() != b.getCols()) {
-		printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
-		return false;
-	}
-
-	bool ret = true;
-
-	for (size_t i = 0; i < a.getRows(); i++)
-		for (size_t j = 0; j < a.getCols(); j++) {
-			if (!equal(a(i, j), b(i, j), eps)) {
-				printf("element mismatch (%d, %d)\n", i, j);
-				ret = false;
-			}
-		}
-
-	return ret;
-}
-
-} // namespace math
diff --git a/src/modules/mathlib/math/Matrix.hpp b/src/modules/mathlib/math/Matrix.hpp
deleted file mode 100644
index f19db15ec..000000000
--- a/src/modules/mathlib/math/Matrix.hpp
+++ /dev/null
@@ -1,61 +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 Matrix.h
- *
- * matrix code
- */
-
-#pragma once
-
-#include <nuttx/config.h>
-
-#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
-#include "arm/Matrix.hpp"
-#else
-#include "generic/Matrix.hpp"
-#endif
-
-namespace math
-{
-class Matrix;
-int matrixTest();
-int matrixAddTest();
-int matrixSubTest();
-int matrixMultTest();
-int matrixInvTest();
-int matrixDivTest();
-int matrixArmTest();
-bool matrixEqual(const Matrix &a, const Matrix &b, float eps = 1.0e-5f);
-} // namespace math
diff --git a/src/modules/mathlib/math/Quaternion.cpp b/src/modules/mathlib/math/Quaternion.cpp
deleted file mode 100644
index 02fec4ca6..000000000
--- a/src/modules/mathlib/math/Quaternion.cpp
+++ /dev/null
@@ -1,174 +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 Quaternion.cpp
- *
- * math vector
- */
-
-#include "test/test.hpp"
-
-
-#include "Quaternion.hpp"
-#include "Dcm.hpp"
-#include "EulerAngles.hpp"
-
-namespace math
-{
-
-Quaternion::Quaternion() :
-	Vector(4)
-{
-	setA(1.0f);
-	setB(0.0f);
-	setC(0.0f);
-	setD(0.0f);
-}
-
-Quaternion::Quaternion(float a, float b,
-		       float c, float d) :
-	Vector(4)
-{
-	setA(a);
-	setB(b);
-	setC(c);
-	setD(d);
-}
-
-Quaternion::Quaternion(const float *data) :
-	Vector(4, data)
-{
-}
-
-Quaternion::Quaternion(const Vector &v) :
-	Vector(v)
-{
-}
-
-Quaternion::Quaternion(const Dcm &dcm) :
-	Vector(4)
-{
-	// avoiding singularities by not using
-	// division equations
-	setA(0.5 * sqrt(1.0 +
-			double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
-	setB(0.5 * sqrt(1.0 +
-			double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
-	setC(0.5 * sqrt(1.0 +
-			double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
-	setD(0.5 * sqrt(1.0 +
-			double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
-}
-
-Quaternion::Quaternion(const EulerAngles &euler) :
-	Vector(4)
-{
-	double cosPhi_2 = cos(double(euler.getPhi()) / 2.0);
-	double sinPhi_2 = sin(double(euler.getPhi()) / 2.0);
-	double cosTheta_2 = cos(double(euler.getTheta()) / 2.0);
-	double sinTheta_2 = sin(double(euler.getTheta()) / 2.0);
-	double cosPsi_2 = cos(double(euler.getPsi()) / 2.0);
-	double sinPsi_2 = sin(double(euler.getPsi()) / 2.0);
-	setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
-	     sinPhi_2 * sinTheta_2 * sinPsi_2);
-	setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
-	     cosPhi_2 * sinTheta_2 * sinPsi_2);
-	setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
-	     sinPhi_2 * cosTheta_2 * sinPsi_2);
-	setD(cosPhi_2 * cosTheta_2 * sinPsi_2 -
-	     sinPhi_2 * sinTheta_2 * cosPsi_2);
-}
-
-Quaternion::Quaternion(const Quaternion &right) :
-	Vector(right)
-{
-}
-
-Quaternion::~Quaternion()
-{
-}
-
-Vector Quaternion::derivative(const Vector &w)
-{
-#ifdef QUATERNION_ASSERT
-	ASSERT(w.getRows() == 3);
-#endif
-	float dataQ[] = {
-		getA(), -getB(), -getC(), -getD(),
-		getB(),  getA(), -getD(),  getC(),
-		getC(),  getD(),  getA(), -getB(),
-		getD(), -getC(),  getB(),  getA()
-	};
-	Vector v(4);
-	v(0) = 0.0f;
-	v(1) = w(0);
-	v(2) = w(1);
-	v(3) = w(2);
-	Matrix Q(4, 4, dataQ);
-	return Q * v * 0.5f;
-}
-
-int __EXPORT quaternionTest()
-{
-	printf("Test Quaternion\t\t: ");
-	// test default ctor
-	Quaternion q;
-	ASSERT(equal(q.getA(), 1.0f));
-	ASSERT(equal(q.getB(), 0.0f));
-	ASSERT(equal(q.getC(), 0.0f));
-	ASSERT(equal(q.getD(), 0.0f));
-	// test float ctor
-	q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
-	ASSERT(equal(q.getA(), 0.1825742f));
-	ASSERT(equal(q.getB(), 0.3651484f));
-	ASSERT(equal(q.getC(), 0.5477226f));
-	ASSERT(equal(q.getD(), 0.7302967f));
-	// test euler ctor
-	q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
-	// test dcm ctor
-	q = Quaternion(Dcm());
-	ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
-	// TODO test derivative
-	// test accessors
-	q.setA(0.1f);
-	q.setB(0.2f);
-	q.setC(0.3f);
-	q.setD(0.4f);
-	ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
-	printf("PASS\n");
-	return 0;
-}
-
-} // namespace math
diff --git a/src/modules/mathlib/math/Quaternion.hpp b/src/modules/mathlib/math/Quaternion.hpp
deleted file mode 100644
index 048a55d33..000000000
--- a/src/modules/mathlib/math/Quaternion.hpp
+++ /dev/null
@@ -1,115 +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 Quaternion.hpp
- *
- * math quaternion lib
- */
-
-#pragma once
-
-#include "Vector.hpp"
-#include "Matrix.hpp"
-
-namespace math
-{
-
-class Dcm;
-class EulerAngles;
-
-class __EXPORT Quaternion : public Vector
-{
-public:
-
-	/**
-	 * default ctor
-	 */
-	Quaternion();
-
-	/**
-	 * ctor from floats
-	 */
-	Quaternion(float a, float b, float c, float d);
-
-	/**
-	 * ctor from data
-	 */
-	Quaternion(const float *data);
-
-	/**
-	 * ctor from Vector
-	 */
-	Quaternion(const Vector &v);
-
-	/**
-	 * ctor from EulerAngles
-	 */
-	Quaternion(const EulerAngles &euler);
-
-	/**
-	 * ctor from Dcm
-	 */
-	Quaternion(const Dcm &dcm);
-
-	/**
-	 * deep copy ctor
-	 */
-	Quaternion(const Quaternion &right);
-
-	/**
-	 * dtor
-	 */
-	virtual ~Quaternion();
-
-	/**
-	 * derivative
-	 */
-	Vector derivative(const Vector &w);
-
-	/**
-	 * accessors
-	 */
-	void setA(float a) { (*this)(0) = a; }
-	void setB(float b) { (*this)(1) = b; }
-	void setC(float c) { (*this)(2) = c; }
-	void setD(float d) { (*this)(3) = d; }
-	const float &getA() const { return (*this)(0); }
-	const float &getB() const { return (*this)(1); }
-	const float &getC() const { return (*this)(2); }
-	const float &getD() const { return (*this)(3); }
-};
-
-int __EXPORT quaternionTest();
-} // math
-
diff --git a/src/modules/mathlib/math/Vector.cpp b/src/modules/mathlib/math/Vector.cpp
deleted file mode 100644
index 35158a396..000000000
--- a/src/modules/mathlib/math/Vector.cpp
+++ /dev/null
@@ -1,100 +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 Vector.cpp
- *
- * math vector
- */
-
-#include "test/test.hpp"
-
-#include "Vector.hpp"
-
-namespace math
-{
-
-static const float data_testA[] = {1, 3};
-static const float data_testB[] = {4, 1};
-
-static Vector testA(2, data_testA);
-static Vector testB(2, data_testB);
-
-int __EXPORT vectorTest()
-{
-	vectorAddTest();
-	vectorSubTest();
-	return 0;
-}
-
-int vectorAddTest()
-{
-	printf("Test Vector Add\t\t: ");
-	Vector r = testA + testB;
-	float data_test[] = {5.0f, 4.0f};
-	ASSERT(vectorEqual(Vector(2, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int vectorSubTest()
-{
-	printf("Test Vector Sub\t\t: ");
-	Vector r(2);
-	r = testA - testB;
-	float data_test[] = { -3.0f, 2.0f};
-	ASSERT(vectorEqual(Vector(2, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-bool vectorEqual(const Vector &a, const Vector &b, float eps)
-{
-	if (a.getRows() != b.getRows()) {
-		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
-		return false;
-	}
-
-	bool ret = true;
-
-	for (size_t i = 0; i < a.getRows(); i++) {
-		if (!equal(a(i), b(i), eps)) {
-			printf("element mismatch (%d)\n", i);
-			ret = false;
-		}
-	}
-
-	return ret;
-}
-
-} // namespace math
diff --git a/src/modules/mathlib/math/Vector.hpp b/src/modules/mathlib/math/Vector.hpp
deleted file mode 100644
index 73de793d5..000000000
--- a/src/modules/mathlib/math/Vector.hpp
+++ /dev/null
@@ -1,57 +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 Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include <nuttx/config.h>
-
-#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
-#include "arm/Vector.hpp"
-#else
-#include "generic/Vector.hpp"
-#endif
-
-namespace math
-{
-class Vector;
-int __EXPORT vectorTest();
-int __EXPORT vectorAddTest();
-int __EXPORT vectorSubTest();
-bool vectorEqual(const Vector &a, const Vector &b, float eps = 1.0e-5f);
-} // math
diff --git a/src/modules/mathlib/math/Vector2f.cpp b/src/modules/mathlib/math/Vector2f.cpp
deleted file mode 100644
index 68e741817..000000000
--- a/src/modules/mathlib/math/Vector2f.cpp
+++ /dev/null
@@ -1,103 +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 Vector2f.cpp
- *
- * math vector
- */
-
-#include "test/test.hpp"
-
-#include "Vector2f.hpp"
-
-namespace math
-{
-
-Vector2f::Vector2f() :
-	Vector(2)
-{
-}
-
-Vector2f::Vector2f(const Vector &right) :
-	Vector(right)
-{
-#ifdef VECTOR_ASSERT
-	ASSERT(right.getRows() == 2);
-#endif
-}
-
-Vector2f::Vector2f(float x, float y) :
-	Vector(2)
-{
-	setX(x);
-	setY(y);
-}
-
-Vector2f::Vector2f(const float *data) :
-	Vector(2, data)
-{
-}
-
-Vector2f::~Vector2f()
-{
-}
-
-float Vector2f::cross(const Vector2f &b) const
-{
-	const Vector2f &a = *this;
-	return a(0)*b(1) - a(1)*b(0);
-}
-
-float Vector2f::operator %(const Vector2f &v) const
-{
-	return cross(v);
-}
-    
-float Vector2f::operator *(const Vector2f &v) const
-{
-    return dot(v);
-}
-
-int __EXPORT vector2fTest()
-{
-	printf("Test Vector2f\t\t: ");
-	// test float ctor
-	Vector2f v(1, 2);
-	ASSERT(equal(v(0), 1));
-	ASSERT(equal(v(1), 2));
-	printf("PASS\n");
-	return 0;
-}
-
-} // namespace math
diff --git a/src/modules/mathlib/math/Vector2f.hpp b/src/modules/mathlib/math/Vector2f.hpp
deleted file mode 100644
index ecd62e81c..000000000
--- a/src/modules/mathlib/math/Vector2f.hpp
+++ /dev/null
@@ -1,79 +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 Vector2f.hpp
- *
- * math 3 vector
- */
-
-#pragma once
-
-#include "Vector.hpp"
-
-namespace math
-{
-
-class __EXPORT Vector2f :
-	public Vector
-{
-public:
-	Vector2f();
-	Vector2f(const Vector &right);
-	Vector2f(float x, float y);
-	Vector2f(const float *data);
-	virtual ~Vector2f();
-	float cross(const Vector2f &b) const;
-	float operator %(const Vector2f &v) const;
-    float operator *(const Vector2f &v) const;
-    inline Vector2f operator*(const float &right) const {
-		return Vector::operator*(right);
-	}
-
-	/**
-	 * accessors
-	 */
-	void setX(float x) { (*this)(0) = x; }
-	void setY(float y) { (*this)(1) = y; }
-	const float &getX() const { return (*this)(0); }
-	const float &getY() const { return (*this)(1); }
-};
-    
-class __EXPORT Vector2 :
-	public Vector2f
-{
-};
-
-int __EXPORT vector2fTest();
-} // math
-
diff --git a/src/modules/mathlib/math/Vector3.cpp b/src/modules/mathlib/math/Vector3.cpp
deleted file mode 100644
index dcb85600e..000000000
--- a/src/modules/mathlib/math/Vector3.cpp
+++ /dev/null
@@ -1,99 +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 Vector3.cpp
- *
- * math vector
- */
-
-#include "test/test.hpp"
-
-#include "Vector3.hpp"
-
-namespace math
-{
-
-Vector3::Vector3() :
-	Vector(3)
-{
-}
-
-Vector3::Vector3(const Vector &right) :
-	Vector(right)
-{
-#ifdef VECTOR_ASSERT
-	ASSERT(right.getRows() == 3);
-#endif
-}
-
-Vector3::Vector3(float x, float y, float z) :
-	Vector(3)
-{
-	setX(x);
-	setY(y);
-	setZ(z);
-}
-
-Vector3::Vector3(const float *data) :
-	Vector(3, data)
-{
-}
-
-Vector3::~Vector3()
-{
-}
-
-Vector3 Vector3::cross(const Vector3 &b) const
-{
-	const Vector3 &a = *this;
-	Vector3 result;
-	result(0) = a(1) * b(2) - a(2) * b(1);
-	result(1) = a(2) * b(0) - a(0) * b(2);
-	result(2) = a(0) * b(1) - a(1) * b(0);
-	return result;
-}
-
-int __EXPORT vector3Test()
-{
-	printf("Test Vector3\t\t: ");
-	// test float ctor
-	Vector3 v(1, 2, 3);
-	ASSERT(equal(v(0), 1));
-	ASSERT(equal(v(1), 2));
-	ASSERT(equal(v(2), 3));
-	printf("PASS\n");
-	return 0;
-}
-
-} // namespace math
diff --git a/src/modules/mathlib/math/Vector3.hpp b/src/modules/mathlib/math/Vector3.hpp
deleted file mode 100644
index 568d9669a..000000000
--- a/src/modules/mathlib/math/Vector3.hpp
+++ /dev/null
@@ -1,76 +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 Vector3.hpp
- *
- * math 3 vector
- */
-
-#pragma once
-
-#include "Vector.hpp"
-
-namespace math
-{
-
-class __EXPORT Vector3 :
-	public Vector
-{
-public:
-	Vector3();
-	Vector3(const Vector &right);
-	Vector3(float x, float y, float z);
-	Vector3(const float *data);
-	virtual ~Vector3();
-	Vector3 cross(const Vector3 &b) const;
-
-	/**
-	 * accessors
-	 */
-	void setX(float x) { (*this)(0) = x; }
-	void setY(float y) { (*this)(1) = y; }
-	void setZ(float z) { (*this)(2) = z; }
-	const float &getX() const { return (*this)(0); }
-	const float &getY() const { return (*this)(1); }
-	const float &getZ() const { return (*this)(2); }
-};
-    
-class __EXPORT Vector3f :
-	public Vector3
-{
-};
-
-int __EXPORT vector3Test();
-} // math
-
diff --git a/src/modules/mathlib/math/arm/Matrix.cpp b/src/modules/mathlib/math/arm/Matrix.cpp
deleted file mode 100644
index 21661622a..000000000
--- a/src/modules/mathlib/math/arm/Matrix.cpp
+++ /dev/null
@@ -1,40 +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 Matrix.cpp
- *
- * matrix code
- */
-
-#include "Matrix.hpp"
diff --git a/src/modules/mathlib/math/arm/Matrix.hpp b/src/modules/mathlib/math/arm/Matrix.hpp
deleted file mode 100644
index 715fd3a5e..000000000
--- a/src/modules/mathlib/math/arm/Matrix.hpp
+++ /dev/null
@@ -1,292 +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 Matrix.h
- *
- * matrix code
- */
-
-#pragma once
-
-
-#include <inttypes.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include <math.h>
-
-#include "../Vector.hpp"
-#include "../Matrix.hpp"
-
-// arm specific
-#include "../../CMSIS/Include/arm_math.h"
-
-namespace math
-{
-
-class __EXPORT Matrix
-{
-public:
-	// constructor
-	Matrix(size_t rows, size_t cols) :
-		_matrix() {
-		arm_mat_init_f32(&_matrix,
-				 rows, cols,
-				 (float *)calloc(rows * cols, sizeof(float)));
-	}
-	Matrix(size_t rows, size_t cols, const float *data) :
-		_matrix() {
-		arm_mat_init_f32(&_matrix,
-				 rows, cols,
-				 (float *)malloc(rows * cols * sizeof(float)));
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Matrix() {
-		delete [] _matrix.pData;
-	}
-	// copy constructor (deep)
-	Matrix(const Matrix &right) :
-		_matrix() {
-		arm_mat_init_f32(&_matrix,
-				 right.getRows(), right.getCols(),
-				 (float *)malloc(right.getRows()*
-						 right.getCols()*sizeof(float)));
-		memcpy(getData(), right.getData(),
-		       getSize());
-	}
-	// assignment
-	inline Matrix &operator=(const Matrix &right) {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i, size_t j) {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	inline const float &operator()(size_t i, size_t j) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				float sig;
-				int exp;
-				float num = (*this)(i, j);
-				float2SigExp(num, sig, exp);
-				printf("%6.3fe%03.3d,", (double)sig, exp);
-			}
-
-			printf("\n");
-		}
-	}
-	// boolean ops
-	inline bool operator==(const Matrix &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
-					return false;
-			}
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Matrix operator+(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_offset_f32((float *)getData(), right,
-			       (float *)result.getData(), getRows()*getCols());
-		return result;
-	}
-	inline Matrix operator-(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_offset_f32((float *)getData(), -right,
-			       (float *)result.getData(), getRows()*getCols());
-		return result;
-	}
-	inline Matrix operator*(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_mat_scale_f32(&_matrix, right,
-				  &(result._matrix));
-		return result;
-	}
-	inline Matrix operator/(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_mat_scale_f32(&_matrix, 1.0f / right,
-				  &(result._matrix));
-		return result;
-	}
-	// vector ops
-	inline Vector operator*(const Vector &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Matrix resultMat = (*this) *
-				   Matrix(right.getRows(), 1, right.getData());
-		return Vector(getRows(), resultMat.getData());
-	}
-	// matrix ops
-	inline Matrix operator+(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-		arm_mat_add_f32(&_matrix, &(right._matrix),
-				&(result._matrix));
-		return result;
-	}
-	inline Matrix operator-(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-		arm_mat_sub_f32(&_matrix, &(right._matrix),
-				&(result._matrix));
-		return result;
-	}
-	inline Matrix operator*(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Matrix result(getRows(), right.getCols());
-		arm_mat_mult_f32(&_matrix, &(right._matrix),
-				 &(result._matrix));
-		return result;
-	}
-	inline Matrix operator/(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(right.getRows() == right.getCols());
-		ASSERT(getCols() == right.getCols());
-#endif
-		return (*this) * right.inverse();
-	}
-	// other functions
-	inline Matrix transpose() const {
-		Matrix result(getCols(), getRows());
-		arm_mat_trans_f32(&_matrix, &(result._matrix));
-		return result;
-	}
-	inline void swapRows(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t j = 0; j < getCols(); j++) {
-			float tmp = (*this)(a, j);
-			(*this)(a, j) = (*this)(b, j);
-			(*this)(b, j) = tmp;
-		}
-	}
-	inline void swapCols(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t i = 0; i < getRows(); i++) {
-			float tmp = (*this)(i, a);
-			(*this)(i, a) = (*this)(i, b);
-			(*this)(i, b) = tmp;
-		}
-	}
-	/**
-	 * inverse based on LU factorization with partial pivotting
-	 */
-	Matrix inverse() const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == getCols());
-#endif
-		Matrix result(getRows(), getCols());
-		Matrix work = (*this);
-		arm_mat_inverse_f32(&(work._matrix),
-				    &(result._matrix));
-		return result;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				(*this)(i, j) = val;
-			}
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _matrix.numRows; }
-	inline size_t getCols() const { return _matrix.numCols; }
-	inline static Matrix identity(size_t size) {
-		Matrix result(size, size);
-
-		for (size_t i = 0; i < size; i++) {
-			result(i, i) = 1.0f;
-		}
-
-		return result;
-	}
-	inline static Matrix zero(size_t size) {
-		Matrix result(size, size);
-		result.setAll(0.0f);
-		return result;
-	}
-	inline static Matrix zero(size_t m, size_t n) {
-		Matrix result(m, n);
-		result.setAll(0.0f);
-		return result;
-	}
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
-	inline float *getData() { return _matrix.pData; }
-	inline const float *getData() const { return _matrix.pData; }
-	inline void setData(float *data) { _matrix.pData = data; }
-private:
-	arm_matrix_instance_f32 _matrix;
-};
-
-} // namespace math
diff --git a/src/modules/mathlib/math/arm/Vector.cpp b/src/modules/mathlib/math/arm/Vector.cpp
deleted file mode 100644
index 7ea6496bb..000000000
--- a/src/modules/mathlib/math/arm/Vector.cpp
+++ /dev/null
@@ -1,40 +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 Vector.cpp
- *
- * math vector
- */
-
-#include "Vector.hpp"
diff --git a/src/modules/mathlib/math/arm/Vector.hpp b/src/modules/mathlib/math/arm/Vector.hpp
deleted file mode 100644
index 4155800e8..000000000
--- a/src/modules/mathlib/math/arm/Vector.hpp
+++ /dev/null
@@ -1,236 +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 Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include <inttypes.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include <math.h>
-
-#include "../Vector.hpp"
-#include "../test/test.hpp"
-
-// arm specific
-#include "../../CMSIS/Include/arm_math.h"
-
-namespace math
-{
-
-class __EXPORT Vector
-{
-public:
-	// constructor
-	Vector(size_t rows) :
-		_rows(rows),
-		_data((float *)calloc(rows, sizeof(float))) {
-	}
-	Vector(size_t rows, const float *data) :
-		_rows(rows),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Vector() {
-		delete [] getData();
-	}
-	// copy constructor (deep)
-	Vector(const Vector &right) :
-		_rows(right.getRows()),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), right.getData(),
-		       right.getSize());
-	}
-	// assignment
-	inline Vector &operator=(const Vector &right) {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i) {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	inline const float &operator()(size_t i) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			float sig;
-			int exp;
-			float num = (*this)(i);
-			float2SigExp(num, sig, exp);
-			printf("%6.3fe%03.3d,", (double)sig, exp);
-		}
-
-		printf("\n");
-	}
-	// boolean ops
-	inline bool operator==(const Vector &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
-				return false;
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Vector operator+(float right) const {
-		Vector result(getRows());
-		arm_offset_f32((float *)getData(),
-			       right, result.getData(),
-			       getRows());
-		return result;
-	}
-	inline Vector operator-(float right) const {
-		Vector result(getRows());
-		arm_offset_f32((float *)getData(),
-			       -right, result.getData(),
-			       getRows());
-		return result;
-	}
-	inline Vector operator*(float right) const {
-		Vector result(getRows());
-		arm_scale_f32((float *)getData(),
-			      right, result.getData(),
-			      getRows());
-		return result;
-	}
-	inline Vector operator/(float right) const {
-		Vector result(getRows());
-		arm_scale_f32((float *)getData(),
-			      1.0f / right, result.getData(),
-			      getRows());
-		return result;
-	}
-	// vector ops
-	inline Vector operator+(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-		arm_add_f32((float *)getData(),
-			    (float *)right.getData(),
-			    result.getData(),
-			    getRows());
-		return result;
-	}
-	inline Vector operator-(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-		arm_sub_f32((float *)getData(),
-			    (float *)right.getData(),
-			    result.getData(),
-			    getRows());
-		return result;
-	}
-	inline Vector operator-(void) const {
-		Vector result(getRows());
-		arm_negate_f32((float *)getData(),
-			    result.getData(),
-			    getRows());
-		return result;
-	}
-	// other functions
-	inline float dot(const Vector &right) const {
-		float result = 0;
-		arm_dot_prod_f32((float *)getData(),
-				 (float *)right.getData(),
-				 getRows(),
-				 &result);
-		return result;
-	}
-	inline float norm() const {
-		return sqrtf(dot(*this));
-	}
-	inline float length() const {
-		return norm();
-	}
-	inline Vector unit() const {
-		return (*this) / norm();
-	}
-	inline Vector normalized() const {
-		return unit();
-	}
-	inline void normalize() {
-		(*this) = (*this) / norm();
-	}
-	inline static Vector zero(size_t rows) {
-		Vector result(rows);
-		// calloc returns zeroed memory
-		return result;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			(*this)(i) = val;
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _rows; }
-	inline const float *getData() const { return _data; }
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows(); }
-	inline float *getData() { return _data; }
-	inline void setData(float *data) { _data = data; }
-private:
-	size_t _rows;
-	float *_data;
-};
-
-} // math
diff --git a/src/modules/mathlib/math/filter/LowPassFilter2p.cpp b/src/modules/mathlib/math/filter/LowPassFilter2p.cpp
deleted file mode 100644
index efb17225d..000000000
--- a/src/modules/mathlib/math/filter/LowPassFilter2p.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/****************************************************************************
- *
- *   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	LowPassFilter.cpp
-/// @brief	A class to implement a second order low pass filter 
-/// Author: Leonard Hall <LeonardTHall@gmail.com>
-
-#include "LowPassFilter2p.hpp"
-#include "math.h"
-
-namespace math
-{
-
-void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq)
-{
-    _cutoff_freq = cutoff_freq;
-    float fr = sample_freq/_cutoff_freq;
-    float ohm = tanf(M_PI_F/fr);
-    float c = 1.0f+2.0f*cosf(M_PI_F/4.0f)*ohm + ohm*ohm;
-    _b0 = ohm*ohm/c;
-    _b1 = 2.0f*_b0;
-    _b2 = _b0;
-    _a1 = 2.0f*(ohm*ohm-1.0f)/c;
-    _a2 = (1.0f-2.0f*cosf(M_PI_F/4.0f)*ohm+ohm*ohm)/c;
-}
-
-float LowPassFilter2p::apply(float sample)
-{
-    // do the filtering
-    float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2;
-    if (isnan(delay_element_0) || isinf(delay_element_0)) {
-        // don't allow bad values to propogate via the filter
-        delay_element_0 = sample;
-    }
-    float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2;
-    
-    _delay_element_2 = _delay_element_1;
-    _delay_element_1 = delay_element_0;
-
-    // return the value.  Should be no need to check limits
-    return output;
-}
-
-} // namespace math
-
diff --git a/src/modules/mathlib/math/filter/LowPassFilter2p.hpp b/src/modules/mathlib/math/filter/LowPassFilter2p.hpp
deleted file mode 100644
index 208ec98d4..000000000
--- a/src/modules/mathlib/math/filter/LowPassFilter2p.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/****************************************************************************
- *
- *   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	LowPassFilter.h
-/// @brief	A class to implement a second order low pass filter 
-/// Author: Leonard Hall <LeonardTHall@gmail.com>
-/// Adapted for PX4 by Andrew Tridgell
-
-#pragma once
-
-namespace math
-{
-class __EXPORT LowPassFilter2p
-{
-public:
-    // constructor
-    LowPassFilter2p(float sample_freq, float cutoff_freq) {
-        // set initial parameters
-        set_cutoff_frequency(sample_freq, cutoff_freq);
-        _delay_element_1 = _delay_element_2 = 0;
-    }
-
-    // change parameters
-    void set_cutoff_frequency(float sample_freq, float cutoff_freq);
-
-    // apply - Add a new raw value to the filter 
-    // and retrieve the filtered result
-    float apply(float sample);
-
-    // return the cutoff frequency
-    float get_cutoff_freq(void) const {
-        return _cutoff_freq;
-    }
-
-private:
-    float           _cutoff_freq; 
-    float           _a1;
-    float           _a2;
-    float           _b0;
-    float           _b1;
-    float           _b2;
-    float           _delay_element_1;        // buffered sample -1
-    float           _delay_element_2;        // buffered sample -2
-};
-
-} // namespace math
diff --git a/src/modules/mathlib/math/filter/module.mk b/src/modules/mathlib/math/filter/module.mk
deleted file mode 100644
index fe92c8c70..000000000
--- a/src/modules/mathlib/math/filter/module.mk
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 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.
-#
-############################################################################
-
-#
-# filter library
-#
-SRCS		 = LowPassFilter2p.cpp
-
-#
-# In order to include .config we first have to save off the
-# current makefile name, since app.mk needs it.
-#
-APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
--include $(TOPDIR)/.config
diff --git a/src/modules/mathlib/math/generic/Matrix.cpp b/src/modules/mathlib/math/generic/Matrix.cpp
deleted file mode 100644
index 21661622a..000000000
--- a/src/modules/mathlib/math/generic/Matrix.cpp
+++ /dev/null
@@ -1,40 +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 Matrix.cpp
- *
- * matrix code
- */
-
-#include "Matrix.hpp"
diff --git a/src/modules/mathlib/math/generic/Matrix.hpp b/src/modules/mathlib/math/generic/Matrix.hpp
deleted file mode 100644
index 5601a3447..000000000
--- a/src/modules/mathlib/math/generic/Matrix.hpp
+++ /dev/null
@@ -1,437 +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 Matrix.h
- *
- * matrix code
- */
-
-#pragma once
-
-
-#include <inttypes.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include <math.h>
-
-#include "../Vector.hpp"
-#include "../Matrix.hpp"
-
-namespace math
-{
-
-class __EXPORT Matrix
-{
-public:
-	// constructor
-	Matrix(size_t rows, size_t cols) :
-		_rows(rows),
-		_cols(cols),
-		_data((float *)calloc(rows *cols, sizeof(float))) {
-	}
-	Matrix(size_t rows, size_t cols, const float *data) :
-		_rows(rows),
-		_cols(cols),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Matrix() {
-		delete [] getData();
-	}
-	// copy constructor (deep)
-	Matrix(const Matrix &right) :
-		_rows(right.getRows()),
-		_cols(right.getCols()),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), right.getData(),
-		       right.getSize());
-	}
-	// assignment
-	inline Matrix &operator=(const Matrix &right) {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i, size_t j) {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	inline const float &operator()(size_t i, size_t j) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				float sig;
-				int exp;
-				float num = (*this)(i, j);
-				float2SigExp(num, sig, exp);
-				printf("%6.3fe%03.3d,", (double)sig, exp);
-			}
-
-			printf("\n");
-		}
-	}
-	// boolean ops
-	inline bool operator==(const Matrix &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
-					return false;
-			}
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Matrix operator+(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) + right;
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator-(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) - right;
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator*(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) * right;
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator/(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) / right;
-			}
-		}
-
-		return result;
-	}
-	// vector ops
-	inline Vector operator*(const Vector &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i) += (*this)(i, j) * right(j);
-			}
-		}
-
-		return result;
-	}
-	// matrix ops
-	inline Matrix operator+(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) + right(i, j);
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator-(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) - right(i, j);
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator*(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Matrix result(getRows(), right.getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < right.getCols(); j++) {
-				for (size_t k = 0; k < right.getRows(); k++) {
-					result(i, j) += (*this)(i, k) * right(k, j);
-				}
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator/(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(right.getRows() == right.getCols());
-		ASSERT(getCols() == right.getCols());
-#endif
-		return (*this) * right.inverse();
-	}
-	// other functions
-	inline Matrix transpose() const {
-		Matrix result(getCols(), getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(j, i) = (*this)(i, j);
-			}
-		}
-
-		return result;
-	}
-	inline void swapRows(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t j = 0; j < getCols(); j++) {
-			float tmp = (*this)(a, j);
-			(*this)(a, j) = (*this)(b, j);
-			(*this)(b, j) = tmp;
-		}
-	}
-	inline void swapCols(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t i = 0; i < getRows(); i++) {
-			float tmp = (*this)(i, a);
-			(*this)(i, a) = (*this)(i, b);
-			(*this)(i, b) = tmp;
-		}
-	}
-	/**
-	 * inverse based on LU factorization with partial pivotting
-	 */
-	Matrix inverse() const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == getCols());
-#endif
-		size_t N = getRows();
-		Matrix L = identity(N);
-		const Matrix &A = (*this);
-		Matrix U = A;
-		Matrix P = identity(N);
-
-		//printf("A:\n"); A.print();
-
-		// for all diagonal elements
-		for (size_t n = 0; n < N; n++) {
-
-			// if diagonal is zero, swap with row below
-			if (fabsf(U(n, n)) < 1e-8f) {
-				//printf("trying pivot for row %d\n",n);
-				for (size_t i = 0; i < N; i++) {
-					if (i == n) continue;
-
-					//printf("\ttrying row %d\n",i);
-					if (fabsf(U(i, n)) > 1e-8f) {
-						//printf("swapped %d\n",i);
-						U.swapRows(i, n);
-						P.swapRows(i, n);
-					}
-				}
-			}
-
-#ifdef MATRIX_ASSERT
-			//printf("A:\n"); A.print();
-			//printf("U:\n"); U.print();
-			//printf("P:\n"); P.print();
-			//fflush(stdout);
-			ASSERT(fabsf(U(n, n)) > 1e-8f);
-#endif
-
-			// failsafe, return zero matrix
-			if (fabsf(U(n, n)) < 1e-8f) {
-				return Matrix::zero(n);
-			}
-
-			// for all rows below diagonal
-			for (size_t i = (n + 1); i < N; i++) {
-				L(i, n) = U(i, n) / U(n, n);
-
-				// add i-th row and n-th row
-				// multiplied by: -a(i,n)/a(n,n)
-				for (size_t k = n; k < N; k++) {
-					U(i, k) -= L(i, n) * U(n, k);
-				}
-			}
-		}
-
-		//printf("L:\n"); L.print();
-		//printf("U:\n"); U.print();
-
-		// solve LY=P*I for Y by forward subst
-		Matrix Y = P;
-
-		// for all columns of Y
-		for (size_t c = 0; c < N; c++) {
-			// for all rows of L
-			for (size_t i = 0; i < N; i++) {
-				// for all columns of L
-				for (size_t j = 0; j < i; j++) {
-					// for all existing y
-					// subtract the component they
-					// contribute to the solution
-					Y(i, c) -= L(i, j) * Y(j, c);
-				}
-
-				// divide by the factor
-				// on current
-				// term to be solved
-				// Y(i,c) /= L(i,i);
-				// but L(i,i) = 1.0
-			}
-		}
-
-		//printf("Y:\n"); Y.print();
-
-		// solve Ux=y for x by back subst
-		Matrix X = Y;
-
-		// for all columns of X
-		for (size_t c = 0; c < N; c++) {
-			// for all rows of U
-			for (size_t k = 0; k < N; k++) {
-				// have to go in reverse order
-				size_t i = N - 1 - k;
-
-				// for all columns of U
-				for (size_t j = i + 1; j < N; j++) {
-					// for all existing x
-					// subtract the component they
-					// contribute to the solution
-					X(i, c) -= U(i, j) * X(j, c);
-				}
-
-				// divide by the factor
-				// on current
-				// term to be solved
-				X(i, c) /= U(i, i);
-			}
-		}
-
-		//printf("X:\n"); X.print();
-		return X;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				(*this)(i, j) = val;
-			}
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _rows; }
-	inline size_t getCols() const { return _cols; }
-	inline static Matrix identity(size_t size) {
-		Matrix result(size, size);
-
-		for (size_t i = 0; i < size; i++) {
-			result(i, i) = 1.0f;
-		}
-
-		return result;
-	}
-	inline static Matrix zero(size_t size) {
-		Matrix result(size, size);
-		result.setAll(0.0f);
-		return result;
-	}
-	inline static Matrix zero(size_t m, size_t n) {
-		Matrix result(m, n);
-		result.setAll(0.0f);
-		return result;
-	}
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
-	inline float *getData() { return _data; }
-	inline const float *getData() const { return _data; }
-	inline void setData(float *data) { _data = data; }
-private:
-	size_t _rows;
-	size_t _cols;
-	float *_data;
-};
-
-} // namespace math
diff --git a/src/modules/mathlib/math/generic/Vector.cpp b/src/modules/mathlib/math/generic/Vector.cpp
deleted file mode 100644
index 7ea6496bb..000000000
--- a/src/modules/mathlib/math/generic/Vector.cpp
+++ /dev/null
@@ -1,40 +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 Vector.cpp
- *
- * math vector
- */
-
-#include "Vector.hpp"
diff --git a/src/modules/mathlib/math/generic/Vector.hpp b/src/modules/mathlib/math/generic/Vector.hpp
deleted file mode 100644
index 8cfdc676d..000000000
--- a/src/modules/mathlib/math/generic/Vector.hpp
+++ /dev/null
@@ -1,245 +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 Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include <inttypes.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include <math.h>
-
-#include "../Vector.hpp"
-
-namespace math
-{
-
-class __EXPORT Vector
-{
-public:
-	// constructor
-	Vector(size_t rows) :
-		_rows(rows),
-		_data((float *)calloc(rows, sizeof(float))) {
-	}
-	Vector(size_t rows, const float *data) :
-		_rows(rows),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Vector() {
-		delete [] getData();
-	}
-	// copy constructor (deep)
-	Vector(const Vector &right) :
-		_rows(right.getRows()),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), right.getData(),
-		       right.getSize());
-	}
-	// assignment
-	inline Vector &operator=(const Vector &right) {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i) {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	inline const float &operator()(size_t i) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			float sig;
-			int exp;
-			float num = (*this)(i);
-			float2SigExp(num, sig, exp);
-			printf("%6.3fe%03.3d,", (double)sig, exp);
-		}
-
-		printf("\n");
-	}
-	// boolean ops
-	inline bool operator==(const Vector &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
-				return false;
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Vector operator+(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) + right;
-		}
-
-		return result;
-	}
-	inline Vector operator-(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) - right;
-		}
-
-		return result;
-	}
-	inline Vector operator*(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) * right;
-		}
-
-		return result;
-	}
-	inline Vector operator/(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) / right;
-		}
-
-		return result;
-	}
-	// vector ops
-	inline Vector operator+(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) + right(i);
-		}
-
-		return result;
-	}
-	inline Vector operator-(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) - right(i);
-		}
-
-		return result;
-	}
-	inline Vector operator-(void) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = -((*this)(i));
-		}
-
-		return result;
-	}
-	// other functions
-	inline float dot(const Vector &right) const {
-		float result = 0;
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result += (*this)(i) * (*this)(i);
-		}
-
-		return result;
-	}
-	inline float norm() const {
-		return sqrtf(dot(*this));
-	}
-	inline float length() const {
-		return norm();
-	}
-	inline Vector unit() const {
-		return (*this) / norm();
-	}
-	inline Vector normalized() const {
-		return unit();
-	}
-	inline void normalize() {
-		(*this) = (*this) / norm();
-	}
-	inline static Vector zero(size_t rows) {
-		Vector result(rows);
-		// calloc returns zeroed memory
-		return result;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			(*this)(i) = val;
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _rows; }
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows(); }
-	inline float *getData() { return _data; }
-	inline const float *getData() const { return _data; }
-	inline void setData(float *data) { _data = data; }
-private:
-	size_t _rows;
-	float *_data;
-};
-
-} // math
diff --git a/src/modules/mathlib/math/nasa_rotation_def.pdf b/src/modules/mathlib/math/nasa_rotation_def.pdf
deleted file mode 100644
index eb67a4bfc..000000000
--- a/src/modules/mathlib/math/nasa_rotation_def.pdf
+++ /dev/null
diff --git a/src/modules/mathlib/math/test/test.cpp b/src/modules/mathlib/math/test/test.cpp
deleted file mode 100644
index 2fa2f7e7c..000000000
--- a/src/modules/mathlib/math/test/test.cpp
+++ /dev/null
@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file test.cpp
- *
- * Test library code
- */
-
-#include <stdio.h>
-#include <math.h>
-#include <stdlib.h>
-
-#include "test.hpp"
-
-bool __EXPORT equal(float a, float b, float epsilon)
-{
-	float diff = fabsf(a - b);
-
-	if (diff > epsilon) {
-		printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
-		return false;
-
-	} else return true;
-}
-
-void __EXPORT float2SigExp(
-	const float &num,
-	float &sig,
-	int &exp)
-{
-	if (isnan(num) || isinf(num)) {
-		sig = 0.0f;
-		exp = -99;
-		return;
-	}
-
-	if (fabsf(num) < 1.0e-38f) {
-		sig = 0;
-		exp = 0;
-		return;
-	}
-
-	exp = log10f(fabsf(num));
-
-	if (exp > 0) {
-		exp = ceil(exp);
-
-	} else {
-		exp = floor(exp);
-	}
-
-	sig = num;
-
-	// cheap power since it is integer
-	if (exp > 0) {
-		for (int i = 0; i < abs(exp); i++) sig /= 10;
-
-	} else {
-		for (int i = 0; i < abs(exp); i++) sig *= 10;
-	}
-}
-
-
diff --git a/src/modules/mathlib/math/test/test.hpp b/src/modules/mathlib/math/test/test.hpp
deleted file mode 100644
index 2027bb827..000000000
--- a/src/modules/mathlib/math/test/test.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file test.hpp
- *
- * Controller library code
- */
-
-#pragma once
-
-//#include <assert.h>
-//#include <time.h>
-//#include <stdlib.h>
-
-bool equal(float a, float b, float eps = 1e-5);
-void float2SigExp(
-	const float &num,
-	float &sig,
-	int &exp);
diff --git a/src/modules/mathlib/math/test_math.sce b/src/modules/mathlib/math/test_math.sce
deleted file mode 100644
index c3fba4729..000000000
--- a/src/modules/mathlib/math/test_math.sce
+++ /dev/null
@@ -1,63 +0,0 @@
-clc
-clear
-function out = float_truncate(in, digits)
-    out = round(in*10^digits)
-    out = out/10^digits
-endfunction
-
-phi = 0.1
-theta = 0.2
-psi = 0.3
-
-cosPhi = cos(phi)
-cosPhi_2 = cos(phi/2)
-sinPhi = sin(phi)
-sinPhi_2 = sin(phi/2)
-
-cosTheta = cos(theta)
-cosTheta_2 = cos(theta/2)
-sinTheta = sin(theta)
-sinTheta_2 = sin(theta/2)
-
-cosPsi = cos(psi)
-cosPsi_2 = cos(psi/2)
-sinPsi = sin(psi)
-sinPsi_2 = sin(psi/2)
-
-C_nb = [cosTheta*cosPsi, -cosPhi*sinPsi + sinPhi*sinTheta*cosPsi, sinPhi*sinPsi + cosPhi*sinTheta*cosPsi;
-        cosTheta*sinPsi, cosPhi*cosPsi + sinPhi*sinTheta*sinPsi, -sinPhi*cosPsi + cosPhi*sinTheta*sinPsi;
-        -sinTheta, sinPhi*cosTheta, cosPhi*cosTheta]
-    
-disp(C_nb)
-//C_nb = float_truncate(C_nb,3)
-//disp(C_nb)
-
-theta = asin(-C_nb(3,1))
-phi = atan(C_nb(3,2), C_nb(3,3))
-psi = atan(C_nb(2,1), C_nb(1,1))
-printf('phi %f\n', phi)
-printf('theta %f\n', theta)
-printf('psi %f\n', psi)
-
-q = [cosPhi_2*cosTheta_2*cosPsi_2 + sinPhi_2*sinTheta_2*sinPsi_2;
-     sinPhi_2*cosTheta_2*cosPsi_2 - cosPhi_2*sinTheta_2*sinPsi_2;
-     cosPhi_2*sinTheta_2*cosPsi_2 + sinPhi_2*cosTheta_2*sinPsi_2;
-     cosPhi_2*cosTheta_2*sinPsi_2 - sinPhi_2*sinTheta_2*cosPsi_2]
-     
-//q = float_truncate(q,3)
-
-a = q(1)
-b = q(2)
-c = q(3)
-d = q(4)
-printf('q: %f %f %f %f\n', a, b, c, d)
-a2 = a*a
-b2 = b*b
-c2 = c*c
-d2 = d*d
-
-C2_nb = [a2 + b2 - c2 - d2, 2*(b*c - a*d), 2*(b*d + a*c);
-         2*(b*c + a*d), a2 - b2 + c2 - d2, 2*(c*d - a*b);
-         2*(b*d - a*c), 2*(c*d + a*b), a2 - b2 - c2 + d2]
-
-disp(C2_nb)