Moved position_estimator_mc, px4io driver and sdlog app to new style build

62 files changed, 4529 insertions, 6 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 1a50dde0f..8e18c3c9a 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -46,7 +46,6 @@
 #include <stdbool.h>
 #include <poll.h>
 #include <fcntl.h>
-#include <v1.0/common/mavlink.h>
 #include <float.h>
 #include <nuttx/sched.h>
 #include <sys/prctl.h>
diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
index bfb7db997..d98647f99 100644
--- a/src/modules/attitude_estimator_ekf/module.mk
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#   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
@@ -35,10 +35,10 @@
 # Attitude estimator (Extended Kalman Filter)
 #
 
-MODULE_NAME	 = attitude_estimator_ekf
-CXXSRCS		 = attitude_estimator_ekf_main.cpp
+MODULE_COMMAND	 = attitude_estimator_ekf
 
-SRCS		 = attitude_estimator_ekf_params.c \
+SRCS		 = attitude_estimator_ekf_main.cpp \
+		   attitude_estimator_ekf_params.c \
 		   codegen/eye.c \
 		   codegen/attitudeKalmanfilter.c \
 		   codegen/mrdivide.c \
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
index b90da8289..556d5c2df 100644
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+#   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
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
new file mode 100755
index 000000000..977565b8e
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
@@ -0,0 +1,58 @@
+/*
+ * kalman_dlqe1.c
+ *
+ * Code generation for function 'kalman_dlqe1'
+ *
+ * C source code generated on: Wed Feb 13 20:34:32 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe1.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3],
+                  const real32_T x_aposteriori_k[3], real32_T z, real32_T
+                  x_aposteriori[3])
+{
+	printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z);
+	printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2]));
+  real32_T y;
+  int32_T i0;
+  real32_T b_y[3];
+  int32_T i1;
+  real32_T f0;
+  y = 0.0F;
+  for (i0 = 0; i0 < 3; i0++) {
+    b_y[i0] = 0.0F;
+    for (i1 = 0; i1 < 3; i1++) {
+      b_y[i0] += C[i1] * A[i1 + 3 * i0];
+    }
+
+    y += b_y[i0] * x_aposteriori_k[i0];
+  }
+
+  y = z - y;
+  for (i0 = 0; i0 < 3; i0++) {
+    f0 = 0.0F;
+    for (i1 = 0; i1 < 3; i1++) {
+      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
+    }
+
+    x_aposteriori[i0] = f0 + K[i0] * y;
+  }
+  //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2]));
+}
+
+/* End of code generation (kalman_dlqe1.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
new file mode 100755
index 000000000..2f5330563
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
@@ -0,0 +1,30 @@
+/*
+ * kalman_dlqe1.h
+ *
+ * Code generation for function 'kalman_dlqe1'
+ *
+ * C source code generated on: Wed Feb 13 20:34:32 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE1_H__
+#define __KALMAN_DLQE1_H__
+/* Include files */
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "kalman_dlqe1_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
+#endif
+/* End of code generation (kalman_dlqe1.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
new file mode 100755
index 000000000..6627f76e9
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
@@ -0,0 +1,31 @@
+/*
+ * kalman_dlqe1_initialize.c
+ *
+ * Code generation for function 'kalman_dlqe1_initialize'
+ *
+ * C source code generated on: Wed Feb 13 20:34:31 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe1.h"
+#include "kalman_dlqe1_initialize.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void kalman_dlqe1_initialize(void)
+{
+  rt_InitInfAndNaN(8U);
+}
+
+/* End of code generation (kalman_dlqe1_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
new file mode 100755
index 000000000..a77eb5712
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
@@ -0,0 +1,30 @@
+/*
+ * kalman_dlqe1_initialize.h
+ *
+ * Code generation for function 'kalman_dlqe1_initialize'
+ *
+ * C source code generated on: Wed Feb 13 20:34:31 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE1_INITIALIZE_H__
+#define __KALMAN_DLQE1_INITIALIZE_H__
+/* Include files */
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "kalman_dlqe1_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe1_initialize(void);
+#endif
+/* End of code generation (kalman_dlqe1_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
new file mode 100755
index 000000000..a65536f79
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
@@ -0,0 +1,31 @@
+/*
+ * kalman_dlqe1_terminate.c
+ *
+ * Code generation for function 'kalman_dlqe1_terminate'
+ *
+ * C source code generated on: Wed Feb 13 20:34:31 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe1.h"
+#include "kalman_dlqe1_terminate.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void kalman_dlqe1_terminate(void)
+{
+  /* (no terminate code required) */
+}
+
+/* End of code generation (kalman_dlqe1_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
new file mode 100755
index 000000000..100c7f76c
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
@@ -0,0 +1,30 @@
+/*
+ * kalman_dlqe1_terminate.h
+ *
+ * Code generation for function 'kalman_dlqe1_terminate'
+ *
+ * C source code generated on: Wed Feb 13 20:34:32 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE1_TERMINATE_H__
+#define __KALMAN_DLQE1_TERMINATE_H__
+/* Include files */
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "kalman_dlqe1_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe1_terminate(void);
+#endif
+/* End of code generation (kalman_dlqe1_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
new file mode 100755
index 000000000..d4b2c2d61
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
@@ -0,0 +1,16 @@
+/*
+ * kalman_dlqe1_types.h
+ *
+ * Code generation for function 'kalman_dlqe1'
+ *
+ * C source code generated on: Wed Feb 13 20:34:31 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE1_TYPES_H__
+#define __KALMAN_DLQE1_TYPES_H__
+
+/* Type Definitions */
+
+#endif
+/* End of code generation (kalman_dlqe1_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
new file mode 100755
index 000000000..11b999064
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
@@ -0,0 +1,119 @@
+/*
+ * kalman_dlqe2.c
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:28 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe2.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1);
+
+/* Function Definitions */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1)
+{
+  real32_T y;
+  real32_T f1;
+  real32_T f2;
+  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
+    y = ((real32_T)rtNaN);
+  } else {
+    f1 = (real32_T)fabs(u0);
+    f2 = (real32_T)fabs(u1);
+    if (rtIsInfF(u1)) {
+      if (f1 == 1.0F) {
+        y = ((real32_T)rtNaN);
+      } else if (f1 > 1.0F) {
+        if (u1 > 0.0F) {
+          y = ((real32_T)rtInf);
+        } else {
+          y = 0.0F;
+        }
+      } else if (u1 > 0.0F) {
+        y = 0.0F;
+      } else {
+        y = ((real32_T)rtInf);
+      }
+    } else if (f2 == 0.0F) {
+      y = 1.0F;
+    } else if (f2 == 1.0F) {
+      if (u1 > 0.0F) {
+        y = u0;
+      } else {
+        y = 1.0F / u0;
+      }
+    } else if (u1 == 2.0F) {
+      y = u0 * u0;
+    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
+      y = (real32_T)sqrt(u0);
+    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
+      y = ((real32_T)rtNaN);
+    } else {
+      y = (real32_T)pow(u0, u1);
+    }
+  }
+
+  return y;
+}
+
+void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
+                  real32_T x_aposteriori_k[3], real32_T z, real32_T
+                  x_aposteriori[3])
+{
+	//printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3));
+	//printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3));
+  real32_T A[9];
+  real32_T y;
+  int32_T i0;
+  static const int8_T iv0[3] = { 0, 0, 1 };
+
+  real32_T b_k1[3];
+  int32_T i1;
+  static const int8_T iv1[3] = { 1, 0, 0 };
+
+  real32_T f0;
+  A[0] = 1.0F;
+  A[3] = dt;
+  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
+  A[1] = 0.0F;
+  A[4] = 1.0F;
+  A[7] = dt;
+  y = 0.0F;
+  for (i0 = 0; i0 < 3; i0++) {
+    A[2 + 3 * i0] = (real32_T)iv0[i0];
+    b_k1[i0] = 0.0F;
+    for (i1 = 0; i1 < 3; i1++) {
+      b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
+    }
+
+    y += b_k1[i0] * x_aposteriori_k[i0];
+  }
+
+  y = z - y;
+  b_k1[0] = k1;
+  b_k1[1] = k2;
+  b_k1[2] = k3;
+  for (i0 = 0; i0 < 3; i0++) {
+    f0 = 0.0F;
+    for (i1 = 0; i1 < 3; i1++) {
+      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
+    }
+
+    x_aposteriori[i0] = f0 + b_k1[i0] * y;
+  }
+}
+
+/* End of code generation (kalman_dlqe2.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
new file mode 100755
index 000000000..30170ae22
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
@@ -0,0 +1,32 @@
+/*
+ * kalman_dlqe2.h
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE2_H__
+#define __KALMAN_DLQE2_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe2_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
+#endif
+/* End of code generation (kalman_dlqe2.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
new file mode 100755
index 000000000..de5a1d8aa
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
@@ -0,0 +1,31 @@
+/*
+ * kalman_dlqe2_initialize.c
+ *
+ * Code generation for function 'kalman_dlqe2_initialize'
+ *
+ * C source code generated on: Thu Feb 14 12:52:28 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe2.h"
+#include "kalman_dlqe2_initialize.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void kalman_dlqe2_initialize(void)
+{
+  rt_InitInfAndNaN(8U);
+}
+
+/* End of code generation (kalman_dlqe2_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
new file mode 100755
index 000000000..3d507ff31
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
@@ -0,0 +1,32 @@
+/*
+ * kalman_dlqe2_initialize.h
+ *
+ * Code generation for function 'kalman_dlqe2_initialize'
+ *
+ * C source code generated on: Thu Feb 14 12:52:28 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE2_INITIALIZE_H__
+#define __KALMAN_DLQE2_INITIALIZE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe2_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe2_initialize(void);
+#endif
+/* End of code generation (kalman_dlqe2_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
new file mode 100755
index 000000000..0757c878c
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
@@ -0,0 +1,31 @@
+/*
+ * kalman_dlqe2_terminate.c
+ *
+ * Code generation for function 'kalman_dlqe2_terminate'
+ *
+ * C source code generated on: Thu Feb 14 12:52:28 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe2.h"
+#include "kalman_dlqe2_terminate.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void kalman_dlqe2_terminate(void)
+{
+  /* (no terminate code required) */
+}
+
+/* End of code generation (kalman_dlqe2_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
new file mode 100755
index 000000000..23995020b
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
@@ -0,0 +1,32 @@
+/*
+ * kalman_dlqe2_terminate.h
+ *
+ * Code generation for function 'kalman_dlqe2_terminate'
+ *
+ * C source code generated on: Thu Feb 14 12:52:28 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE2_TERMINATE_H__
+#define __KALMAN_DLQE2_TERMINATE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe2_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe2_terminate(void);
+#endif
+/* End of code generation (kalman_dlqe2_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
new file mode 100755
index 000000000..f7a04d908
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
@@ -0,0 +1,16 @@
+/*
+ * kalman_dlqe2_types.h
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:28 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE2_TYPES_H__
+#define __KALMAN_DLQE2_TYPES_H__
+
+/* Type Definitions */
+
+#endif
+/* End of code generation (kalman_dlqe2_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
new file mode 100755
index 000000000..9efe2ea7a
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
@@ -0,0 +1,137 @@
+/*

+ * kalman_dlqe3.c

+ *

+ * Code generation for function 'kalman_dlqe3'

+ *

+ * C source code generated on: Tue Feb 19 15:26:31 2013

+ *

+ */

+

+/* Include files */

+#include "rt_nonfinite.h"

+#include "kalman_dlqe3.h"

+#include "randn.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+static real32_T rt_powf_snf(real32_T u0, real32_T u1);

+

+/* Function Definitions */

+static real32_T rt_powf_snf(real32_T u0, real32_T u1)

+{

+  real32_T y;

+  real32_T f1;

+  real32_T f2;

+  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {

+    y = ((real32_T)rtNaN);

+  } else {

+    f1 = (real32_T)fabs(u0);

+    f2 = (real32_T)fabs(u1);

+    if (rtIsInfF(u1)) {

+      if (f1 == 1.0F) {

+        y = ((real32_T)rtNaN);

+      } else if (f1 > 1.0F) {

+        if (u1 > 0.0F) {

+          y = ((real32_T)rtInf);

+        } else {

+          y = 0.0F;

+        }

+      } else if (u1 > 0.0F) {

+        y = 0.0F;

+      } else {

+        y = ((real32_T)rtInf);

+      }

+    } else if (f2 == 0.0F) {

+      y = 1.0F;

+    } else if (f2 == 1.0F) {

+      if (u1 > 0.0F) {

+        y = u0;

+      } else {

+        y = 1.0F / u0;

+      }

+    } else if (u1 == 2.0F) {

+      y = u0 * u0;

+    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {

+      y = (real32_T)sqrt(u0);

+    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {

+      y = ((real32_T)rtNaN);

+    } else {

+      y = (real32_T)pow(u0, u1);

+    }

+  }

+

+  return y;

+}

+

+void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const

+                  real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate,

+                  real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3])

+{

+  real32_T A[9];

+  int32_T i0;

+  static const int8_T iv0[3] = { 0, 0, 1 };

+

+  real_T b;

+  real32_T y;

+  real32_T b_y[3];

+  int32_T i1;

+  static const int8_T iv1[3] = { 1, 0, 0 };

+

+  real32_T b_k1[3];

+  real32_T f0;

+  A[0] = 1.0F;

+  A[3] = dt;

+  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);

+  A[1] = 0.0F;

+  A[4] = 1.0F;

+  A[7] = dt;

+  for (i0 = 0; i0 < 3; i0++) {

+    A[2 + 3 * i0] = (real32_T)iv0[i0];

+  }

+

+  if (addNoise == 1.0F) {

+    b = randn();

+    z += sigma * (real32_T)b;

+  }

+

+  if (posUpdate != 0.0F) {

+    y = 0.0F;

+    for (i0 = 0; i0 < 3; i0++) {

+      b_y[i0] = 0.0F;

+      for (i1 = 0; i1 < 3; i1++) {

+        b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];

+      }

+

+      y += b_y[i0] * x_aposteriori_k[i0];

+    }

+

+    y = z - y;

+    b_k1[0] = k1;

+    b_k1[1] = k2;

+    b_k1[2] = k3;

+    for (i0 = 0; i0 < 3; i0++) {

+      f0 = 0.0F;

+      for (i1 = 0; i1 < 3; i1++) {

+        f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];

+      }

+

+      x_aposteriori[i0] = f0 + b_k1[i0] * y;

+    }

+  } else {

+    for (i0 = 0; i0 < 3; i0++) {

+      x_aposteriori[i0] = 0.0F;

+      for (i1 = 0; i1 < 3; i1++) {

+        x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1];

+      }

+    }

+  }

+}

+

+/* End of code generation (kalman_dlqe3.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
new file mode 100755
index 000000000..9bbffbbb3
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
@@ -0,0 +1,33 @@
+/*

+ * kalman_dlqe3.h

+ *

+ * Code generation for function 'kalman_dlqe3'

+ *

+ * C source code generated on: Tue Feb 19 15:26:32 2013

+ *

+ */

+

+#ifndef __KALMAN_DLQE3_H__

+#define __KALMAN_DLQE3_H__

+/* Include files */

+#include <math.h>

+#include <stddef.h>

+#include <stdlib.h>

+#include <string.h>

+#include "rt_nonfinite.h"

+

+#include "rtwtypes.h"

+#include "kalman_dlqe3_types.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]);

+#endif

+/* End of code generation (kalman_dlqe3.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
new file mode 100755
index 000000000..8f2275c13
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
@@ -0,0 +1,32 @@
+/*

+ * kalman_dlqe3_data.c

+ *

+ * Code generation for function 'kalman_dlqe3_data'

+ *

+ * C source code generated on: Tue Feb 19 15:26:31 2013

+ *

+ */

+

+/* Include files */

+#include "rt_nonfinite.h"

+#include "kalman_dlqe3.h"

+#include "kalman_dlqe3_data.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+uint32_T method;

+uint32_T state[2];

+uint32_T b_method;

+uint32_T b_state;

+uint32_T c_state[2];

+boolean_T state_not_empty;

+

+/* Function Declarations */

+

+/* Function Definitions */

+/* End of code generation (kalman_dlqe3_data.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
new file mode 100755
index 000000000..952eb7b89
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
@@ -0,0 +1,38 @@
+/*

+ * kalman_dlqe3_data.h

+ *

+ * Code generation for function 'kalman_dlqe3_data'

+ *

+ * C source code generated on: Tue Feb 19 15:26:31 2013

+ *

+ */

+

+#ifndef __KALMAN_DLQE3_DATA_H__

+#define __KALMAN_DLQE3_DATA_H__

+/* Include files */

+#include <math.h>

+#include <stddef.h>

+#include <stdlib.h>

+#include <string.h>

+#include "rt_nonfinite.h"

+

+#include "rtwtypes.h"

+#include "kalman_dlqe3_types.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+extern uint32_T method;

+extern uint32_T state[2];

+extern uint32_T b_method;

+extern uint32_T b_state;

+extern uint32_T c_state[2];

+extern boolean_T state_not_empty;

+

+/* Variable Definitions */

+

+/* Function Declarations */

+#endif

+/* End of code generation (kalman_dlqe3_data.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
new file mode 100755
index 000000000..b87d604c4
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
@@ -0,0 +1,47 @@
+/*

+ * kalman_dlqe3_initialize.c

+ *

+ * Code generation for function 'kalman_dlqe3_initialize'

+ *

+ * C source code generated on: Tue Feb 19 15:26:31 2013

+ *

+ */

+

+/* Include files */

+#include "rt_nonfinite.h"

+#include "kalman_dlqe3.h"

+#include "kalman_dlqe3_initialize.h"

+#include "kalman_dlqe3_data.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+

+/* Function Definitions */

+void kalman_dlqe3_initialize(void)

+{

+  int32_T i;

+  static const uint32_T uv0[2] = { 362436069U, 0U };

+

+  rt_InitInfAndNaN(8U);

+  state_not_empty = FALSE;

+  b_state = 1144108930U;

+  b_method = 7U;

+  method = 0U;

+  for (i = 0; i < 2; i++) {

+    c_state[i] = 362436069U + 158852560U * (uint32_T)i;

+    state[i] = uv0[i];

+  }

+

+  if (state[1] == 0U) {

+    state[1] = 521288629U;

+  }

+}

+

+/* End of code generation (kalman_dlqe3_initialize.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
new file mode 100755
index 000000000..9dee90f9e
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
@@ -0,0 +1,33 @@
+/*

+ * kalman_dlqe3_initialize.h

+ *

+ * Code generation for function 'kalman_dlqe3_initialize'

+ *

+ * C source code generated on: Tue Feb 19 15:26:31 2013

+ *

+ */

+

+#ifndef __KALMAN_DLQE3_INITIALIZE_H__

+#define __KALMAN_DLQE3_INITIALIZE_H__

+/* Include files */

+#include <math.h>

+#include <stddef.h>

+#include <stdlib.h>

+#include <string.h>

+#include "rt_nonfinite.h"

+

+#include "rtwtypes.h"

+#include "kalman_dlqe3_types.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+extern void kalman_dlqe3_initialize(void);

+#endif

+/* End of code generation (kalman_dlqe3_initialize.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
new file mode 100755
index 000000000..b00858205
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
@@ -0,0 +1,31 @@
+/*

+ * kalman_dlqe3_terminate.c

+ *

+ * Code generation for function 'kalman_dlqe3_terminate'

+ *

+ * C source code generated on: Tue Feb 19 15:26:31 2013

+ *

+ */

+

+/* Include files */

+#include "rt_nonfinite.h"

+#include "kalman_dlqe3.h"

+#include "kalman_dlqe3_terminate.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+

+/* Function Definitions */

+void kalman_dlqe3_terminate(void)

+{

+  /* (no terminate code required) */

+}

+

+/* End of code generation (kalman_dlqe3_terminate.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
new file mode 100755
index 000000000..69cc85c76
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
@@ -0,0 +1,33 @@
+/*

+ * kalman_dlqe3_terminate.h

+ *

+ * Code generation for function 'kalman_dlqe3_terminate'

+ *

+ * C source code generated on: Tue Feb 19 15:26:31 2013

+ *

+ */

+

+#ifndef __KALMAN_DLQE3_TERMINATE_H__

+#define __KALMAN_DLQE3_TERMINATE_H__

+/* Include files */

+#include <math.h>

+#include <stddef.h>

+#include <stdlib.h>

+#include <string.h>

+#include "rt_nonfinite.h"

+

+#include "rtwtypes.h"

+#include "kalman_dlqe3_types.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+extern void kalman_dlqe3_terminate(void);

+#endif

+/* End of code generation (kalman_dlqe3_terminate.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
new file mode 100755
index 000000000..f36ea4557
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
@@ -0,0 +1,16 @@
+/*

+ * kalman_dlqe3_types.h

+ *

+ * Code generation for function 'kalman_dlqe3'

+ *

+ * C source code generated on: Tue Feb 19 15:26:30 2013

+ *

+ */

+

+#ifndef __KALMAN_DLQE3_TYPES_H__

+#define __KALMAN_DLQE3_TYPES_H__

+

+/* Type Definitions */

+

+#endif

+/* End of code generation (kalman_dlqe3_types.h) */

diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
new file mode 100755
index 000000000..5139848bc
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
@@ -0,0 +1,136 @@
+/*
+ * positionKalmanFilter1D.c
+ *
+ * Code generation for function 'positionKalmanFilter1D'
+ *
+ * C source code generated on: Fri Nov 30 14:26:11 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "positionKalmanFilter1D.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const
+  real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T
+  P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T
+  Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3],
+  real32_T P_aposteriori[9])
+{
+  int32_T i0;
+  real32_T f0;
+  int32_T k;
+  real32_T b_A[9];
+  int32_T i1;
+  real32_T P_apriori[9];
+  real32_T y;
+  real32_T K[3];
+  real32_T S;
+  int8_T I[9];
+
+  /* prediction */
+  for (i0 = 0; i0 < 3; i0++) {
+    f0 = 0.0F;
+    for (k = 0; k < 3; k++) {
+      f0 += A[i0 + 3 * k] * x_aposteriori_k[k];
+    }
+
+    x_aposteriori[i0] = f0 + B[i0] * u;
+  }
+
+  for (i0 = 0; i0 < 3; i0++) {
+    for (k = 0; k < 3; k++) {
+      b_A[i0 + 3 * k] = 0.0F;
+      for (i1 = 0; i1 < 3; i1++) {
+        b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k];
+      }
+    }
+  }
+
+  for (i0 = 0; i0 < 3; i0++) {
+    for (k = 0; k < 3; k++) {
+      f0 = 0.0F;
+      for (i1 = 0; i1 < 3; i1++) {
+        f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1];
+      }
+
+      P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k];
+    }
+  }
+
+  if ((real32_T)fabs(u) < thresh) {
+    x_aposteriori[1] *= decay;
+  }
+
+  /* update */
+  if (gps_update == 1) {
+    y = 0.0F;
+    for (k = 0; k < 3; k++) {
+      y += C[k] * x_aposteriori[k];
+      K[k] = 0.0F;
+      for (i0 = 0; i0 < 3; i0++) {
+        K[k] += C[i0] * P_apriori[i0 + 3 * k];
+      }
+    }
+
+    y = z - y;
+    S = 0.0F;
+    for (k = 0; k < 3; k++) {
+      S += K[k] * C[k];
+    }
+
+    S += R;
+    for (i0 = 0; i0 < 3; i0++) {
+      f0 = 0.0F;
+      for (k = 0; k < 3; k++) {
+        f0 += P_apriori[i0 + 3 * k] * C[k];
+      }
+
+      K[i0] = f0 / S;
+    }
+
+    for (i0 = 0; i0 < 3; i0++) {
+      x_aposteriori[i0] += K[i0] * y;
+    }
+
+    for (i0 = 0; i0 < 9; i0++) {
+      I[i0] = 0;
+    }
+
+    for (k = 0; k < 3; k++) {
+      I[k + 3 * k] = 1;
+    }
+
+    for (i0 = 0; i0 < 3; i0++) {
+      for (k = 0; k < 3; k++) {
+        b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0];
+      }
+    }
+
+    for (i0 = 0; i0 < 3; i0++) {
+      for (k = 0; k < 3; k++) {
+        P_aposteriori[i0 + 3 * k] = 0.0F;
+        for (i1 = 0; i1 < 3; i1++) {
+          P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k];
+        }
+      }
+    }
+  } else {
+    for (i0 = 0; i0 < 9; i0++) {
+      P_aposteriori[i0] = P_apriori[i0];
+    }
+  }
+}
+
+/* End of code generation (positionKalmanFilter1D.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
new file mode 100755
index 000000000..205c8eb4e
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D.h
+ *
+ * Code generation for function 'positionKalmanFilter1D'
+ *
+ * C source code generated on: Fri Nov 30 14:26:11 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_H__
+#define __POSITIONKALMANFILTER1D_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "positionKalmanFilter1D_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
+#endif
+/* End of code generation (positionKalmanFilter1D.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
new file mode 100755
index 000000000..4c535618a
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
@@ -0,0 +1,157 @@
+/*
+ * positionKalmanFilter1D_dT.c
+ *
+ * Code generation for function 'positionKalmanFilter1D_dT'
+ *
+ * C source code generated on: Fri Nov 30 17:37:33 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "positionKalmanFilter1D_dT.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3],
+  const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update,
+  const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T
+  x_aposteriori[3], real32_T P_aposteriori[9])
+{
+  real32_T A[9];
+  int32_T i;
+  static const int8_T iv0[3] = { 0, 0, 1 };
+
+  real32_T K[3];
+  real32_T f0;
+  int32_T i0;
+  real32_T b_A[9];
+  int32_T i1;
+  real32_T P_apriori[9];
+  static const int8_T iv1[3] = { 1, 0, 0 };
+
+  real32_T fv0[3];
+  real32_T y;
+  static const int8_T iv2[3] = { 1, 0, 0 };
+
+  real32_T S;
+  int8_T I[9];
+
+  /* dynamics */
+  A[0] = 1.0F;
+  A[3] = dT;
+  A[6] = -0.5F * dT * dT;
+  A[1] = 0.0F;
+  A[4] = 1.0F;
+  A[7] = -dT;
+  for (i = 0; i < 3; i++) {
+    A[2 + 3 * i] = (real32_T)iv0[i];
+  }
+
+  /* prediction */
+  K[0] = 0.5F * dT * dT;
+  K[1] = dT;
+  K[2] = 0.0F;
+  for (i = 0; i < 3; i++) {
+    f0 = 0.0F;
+    for (i0 = 0; i0 < 3; i0++) {
+      f0 += A[i + 3 * i0] * x_aposteriori_k[i0];
+    }
+
+    x_aposteriori[i] = f0 + K[i] * u;
+  }
+
+  for (i = 0; i < 3; i++) {
+    for (i0 = 0; i0 < 3; i0++) {
+      b_A[i + 3 * i0] = 0.0F;
+      for (i1 = 0; i1 < 3; i1++) {
+        b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0];
+      }
+    }
+  }
+
+  for (i = 0; i < 3; i++) {
+    for (i0 = 0; i0 < 3; i0++) {
+      f0 = 0.0F;
+      for (i1 = 0; i1 < 3; i1++) {
+        f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1];
+      }
+
+      P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0];
+    }
+  }
+
+  if ((real32_T)fabs(u) < thresh) {
+    x_aposteriori[1] *= decay;
+  }
+
+  /* update */
+  if (gps_update == 1) {
+    f0 = 0.0F;
+    for (i = 0; i < 3; i++) {
+      f0 += (real32_T)iv1[i] * x_aposteriori[i];
+      fv0[i] = 0.0F;
+      for (i0 = 0; i0 < 3; i0++) {
+        fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i];
+      }
+    }
+
+    y = z - f0;
+    f0 = 0.0F;
+    for (i = 0; i < 3; i++) {
+      f0 += fv0[i] * (real32_T)iv2[i];
+    }
+
+    S = f0 + (real32_T)R;
+    for (i = 0; i < 3; i++) {
+      f0 = 0.0F;
+      for (i0 = 0; i0 < 3; i0++) {
+        f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0];
+      }
+
+      K[i] = f0 / S;
+    }
+
+    for (i = 0; i < 3; i++) {
+      x_aposteriori[i] += K[i] * y;
+    }
+
+    for (i = 0; i < 9; i++) {
+      I[i] = 0;
+    }
+
+    for (i = 0; i < 3; i++) {
+      I[i + 3 * i] = 1;
+    }
+
+    for (i = 0; i < 3; i++) {
+      for (i0 = 0; i0 < 3; i0++) {
+        A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i];
+      }
+    }
+
+    for (i = 0; i < 3; i++) {
+      for (i0 = 0; i0 < 3; i0++) {
+        P_aposteriori[i + 3 * i0] = 0.0F;
+        for (i1 = 0; i1 < 3; i1++) {
+          P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0];
+        }
+      }
+    }
+  } else {
+    for (i = 0; i < 9; i++) {
+      P_aposteriori[i] = P_apriori[i];
+    }
+  }
+}
+
+/* End of code generation (positionKalmanFilter1D_dT.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
new file mode 100755
index 000000000..94cbe2ce6
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_dT.h
+ *
+ * Code generation for function 'positionKalmanFilter1D_dT'
+ *
+ * C source code generated on: Fri Nov 30 17:37:33 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_DT_H__
+#define __POSITIONKALMANFILTER1D_DT_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "positionKalmanFilter1D_dT_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
+#endif
+/* End of code generation (positionKalmanFilter1D_dT.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
new file mode 100755
index 000000000..aa89f8a9d
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_dT_initialize.c
+ *
+ * Code generation for function 'positionKalmanFilter1D_dT_initialize'
+ *
+ * C source code generated on: Fri Nov 30 17:37:33 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "positionKalmanFilter1D_dT.h"
+#include "positionKalmanFilter1D_dT_initialize.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void positionKalmanFilter1D_dT_initialize(void)
+{
+  rt_InitInfAndNaN(8U);
+}
+
+/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
new file mode 100755
index 000000000..8d358a9a3
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_dT_initialize.h
+ *
+ * Code generation for function 'positionKalmanFilter1D_dT_initialize'
+ *
+ * C source code generated on: Fri Nov 30 17:37:33 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
+#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "positionKalmanFilter1D_dT_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void positionKalmanFilter1D_dT_initialize(void);
+#endif
+/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
new file mode 100755
index 000000000..20ed2edbb
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_dT_terminate.c
+ *
+ * Code generation for function 'positionKalmanFilter1D_dT_terminate'
+ *
+ * C source code generated on: Fri Nov 30 17:37:33 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "positionKalmanFilter1D_dT.h"
+#include "positionKalmanFilter1D_dT_terminate.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void positionKalmanFilter1D_dT_terminate(void)
+{
+  /* (no terminate code required) */
+}
+
+/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
new file mode 100755
index 000000000..5eb5807a0
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_dT_terminate.h
+ *
+ * Code generation for function 'positionKalmanFilter1D_dT_terminate'
+ *
+ * C source code generated on: Fri Nov 30 17:37:33 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
+#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "positionKalmanFilter1D_dT_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void positionKalmanFilter1D_dT_terminate(void);
+#endif
+/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
new file mode 100755
index 000000000..43e5f016c
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
@@ -0,0 +1,16 @@
+/*
+ * positionKalmanFilter1D_dT_types.h
+ *
+ * Code generation for function 'positionKalmanFilter1D_dT'
+ *
+ * C source code generated on: Fri Nov 30 17:37:33 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__
+#define __POSITIONKALMANFILTER1D_DT_TYPES_H__
+
+/* Type Definitions */
+
+#endif
+/* End of code generation (positionKalmanFilter1D_dT_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
new file mode 100755
index 000000000..5bd87c390
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_initialize.c
+ *
+ * Code generation for function 'positionKalmanFilter1D_initialize'
+ *
+ * C source code generated on: Fri Nov 30 14:26:11 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "positionKalmanFilter1D.h"
+#include "positionKalmanFilter1D_initialize.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void positionKalmanFilter1D_initialize(void)
+{
+  rt_InitInfAndNaN(8U);
+}
+
+/* End of code generation (positionKalmanFilter1D_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
new file mode 100755
index 000000000..44bce472f
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_initialize.h
+ *
+ * Code generation for function 'positionKalmanFilter1D_initialize'
+ *
+ * C source code generated on: Fri Nov 30 14:26:11 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__
+#define __POSITIONKALMANFILTER1D_INITIALIZE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "positionKalmanFilter1D_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void positionKalmanFilter1D_initialize(void);
+#endif
+/* End of code generation (positionKalmanFilter1D_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
new file mode 100755
index 000000000..41e11936f
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_terminate.c
+ *
+ * Code generation for function 'positionKalmanFilter1D_terminate'
+ *
+ * C source code generated on: Fri Nov 30 14:26:11 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "positionKalmanFilter1D.h"
+#include "positionKalmanFilter1D_terminate.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void positionKalmanFilter1D_terminate(void)
+{
+  /* (no terminate code required) */
+}
+
+/* End of code generation (positionKalmanFilter1D_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
new file mode 100755
index 000000000..e84ea01bc
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
@@ -0,0 +1,31 @@
+/*
+ * positionKalmanFilter1D_terminate.h
+ *
+ * Code generation for function 'positionKalmanFilter1D_terminate'
+ *
+ * C source code generated on: Fri Nov 30 14:26:11 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__
+#define __POSITIONKALMANFILTER1D_TERMINATE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#include "rtwtypes.h"
+#include "positionKalmanFilter1D_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void positionKalmanFilter1D_terminate(void);
+#endif
+/* End of code generation (positionKalmanFilter1D_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
new file mode 100755
index 000000000..4b473f56f
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
@@ -0,0 +1,16 @@
+/*
+ * positionKalmanFilter1D_types.h
+ *
+ * Code generation for function 'positionKalmanFilter1D'
+ *
+ * C source code generated on: Fri Nov 30 14:26:11 2012
+ *
+ */
+
+#ifndef __POSITIONKALMANFILTER1D_TYPES_H__
+#define __POSITIONKALMANFILTER1D_TYPES_H__
+
+/* Type Definitions */
+
+#endif
+/* End of code generation (positionKalmanFilter1D_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c
new file mode 100755
index 000000000..51aef7b76
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/randn.c
@@ -0,0 +1,524 @@
+/*

+ * randn.c

+ *

+ * Code generation for function 'randn'

+ *

+ * C source code generated on: Tue Feb 19 15:26:32 2013

+ *

+ */

+

+/* Include files */

+#include "rt_nonfinite.h"

+#include "kalman_dlqe3.h"

+#include "randn.h"

+#include "kalman_dlqe3_data.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+static uint32_T d_state[625];

+

+/* Function Declarations */

+static real_T b_genrandu(uint32_T mt[625]);

+static real_T eml_rand_mt19937ar(uint32_T e_state[625]);

+static real_T eml_rand_shr3cong(uint32_T e_state[2]);

+static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]);

+static void genrandu(uint32_T s, uint32_T *e_state, real_T *r);

+static void twister_state_vector(uint32_T mt[625], real_T seed);

+

+/* Function Definitions */

+static real_T b_genrandu(uint32_T mt[625])

+{

+  real_T r;

+  int32_T exitg1;

+  uint32_T u[2];

+  boolean_T isvalid;

+  int32_T k;

+  boolean_T exitg2;

+

+  /* <LEGAL>   This is a uniform (0,1) pseudorandom number generator based on: */

+  /* <LEGAL> */

+  /* <LEGAL>    A C-program for MT19937, with initialization improved 2002/1/26. */

+  /* <LEGAL>    Coded by Takuji Nishimura and Makoto Matsumoto. */

+  /* <LEGAL> */

+  /* <LEGAL>    Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */

+  /* <LEGAL>    All rights reserved. */

+  /* <LEGAL> */

+  /* <LEGAL>    Redistribution and use in source and binary forms, with or without */

+  /* <LEGAL>    modification, are permitted provided that the following conditions */

+  /* <LEGAL>    are met: */

+  /* <LEGAL> */

+  /* <LEGAL>      1. Redistributions of source code must retain the above copyright */

+  /* <LEGAL>         notice, this list of conditions and the following disclaimer. */

+  /* <LEGAL> */

+  /* <LEGAL>      2. Redistributions in binary form must reproduce the above copyright */

+  /* <LEGAL>         notice, this list of conditions and the following disclaimer in the */

+  /* <LEGAL>         documentation and/or other materials provided with the distribution. */

+  /* <LEGAL> */

+  /* <LEGAL>      3. The names of its contributors may not be used to endorse or promote */

+  /* <LEGAL>         products derived from this software without specific prior written */

+  /* <LEGAL>         permission. */

+  /* <LEGAL> */

+  /* <LEGAL>    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */

+  /* <LEGAL>    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */

+  /* <LEGAL>    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */

+  /* <LEGAL>    A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR */

+  /* <LEGAL>    CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */

+  /* <LEGAL>    EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */

+  /* <LEGAL>    PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */

+  /* <LEGAL>    PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */

+  /* <LEGAL>    LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */

+  /* <LEGAL>    NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */

+  /* <LEGAL>    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */

+  do {

+    exitg1 = 0;

+    genrand_uint32_vector(mt, u);

+    r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T)

+                                  (u[1] >> 6U));

+    if (r == 0.0) {

+      if ((mt[624] >= 1U) && (mt[624] < 625U)) {

+        isvalid = TRUE;

+      } else {

+        isvalid = FALSE;

+      }

+

+      if (isvalid) {

+        isvalid = FALSE;

+        k = 1;

+        exitg2 = FALSE;

+        while ((exitg2 == FALSE) && (k < 625)) {

+          if (mt[k - 1] == 0U) {

+            k++;

+          } else {

+            isvalid = TRUE;

+            exitg2 = TRUE;

+          }

+        }

+      }

+

+      if (!isvalid) {

+        twister_state_vector(mt, 5489.0);

+      }

+    } else {

+      exitg1 = 1;

+    }

+  } while (exitg1 == 0);

+

+  return r;

+}

+

+static real_T eml_rand_mt19937ar(uint32_T e_state[625])

+{

+  real_T r;

+  int32_T exitg1;

+  uint32_T u32[2];

+  int32_T i;

+  static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068,

+    0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787,

+    0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557,

+    0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991,

+    0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419,

+    0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975,

+    0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107,

+    0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997,

+    0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153,

+    0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165,

+    0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959,

+    0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086,

+    0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062,

+    0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548,

+    1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093,

+    1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034,

+    1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357,

+    1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815,

+    1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083,

+    1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944,

+    1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653,

+    1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949,

+    1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382,

+    1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073,

+    1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936,

+    1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328,

+    1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998,

+    1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547,

+    1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872,

+    1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808,

+    1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049,

+    1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761,

+    1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417,

+    1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591,

+    1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609,

+    1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487,

+    1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818,

+    1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719,

+    1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782,

+    1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172,

+    1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452,

+    1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082,

+    1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281,

+    1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127,

+    1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043,

+    1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569,

+    1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366,

+    1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053,

+    2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753,

+    2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983,

+    2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952,

+    2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431,

+    2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416,

+    2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379,

+    2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137,

+    2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729,

+    2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715,

+    2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105,

+    2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184,

+    2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674,

+    2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999,

+    2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341,

+    2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214,

+    3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143,

+    3.65415288536101, 3.91075795952492 };

+

+  real_T u;

+  static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108,

+    0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131,

+    0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857,

+    0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884,

+    0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964,

+    0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187,

+    0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157,

+    0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863,

+    0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512,

+    0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774,

+    0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697,

+    0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624,

+    0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914,

+    0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987,

+    0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354,

+    0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766,

+    0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952,

+    0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322,

+    0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468,

+    0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458,

+    0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773,

+    0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716,

+    0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804,

+    0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022,

+    0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188,

+    0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832,

+    0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393,

+    0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032,

+    0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077,

+    0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522,

+    0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601,

+    0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337,

+    0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803,

+    0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183,

+    0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668,

+    0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261,

+    0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942,

+    0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501,

+    0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681,

+    0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331,

+    0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881,

+    0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135,

+    0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268,

+    0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839,

+    0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366,

+    0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263,

+    0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514,

+    0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669,

+    0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597,

+    0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839,

+    0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487,

+    0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009,

+    0.093365311912691, 0.0911136480663738, 0.0888735920682759,

+    0.0866451944505581, 0.0844285095703535, 0.082223595813203,

+    0.0800305158146631, 0.0778493367020961, 0.0756801303589272,

+    0.0735229737139814, 0.0713779490588905, 0.0692451443970068,

+    0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954,

+    0.0587679529209339, 0.0567106901062031, 0.0546664613248891,

+    0.0526354182767924, 0.0506177238609479, 0.0486135532158687,

+    0.0466230949019305, 0.0446465522512946, 0.0426841449164746,

+    0.0407361106559411, 0.0388027074045262, 0.0368842156885674,

+    0.0349809414617162, 0.0330932194585786, 0.0312214171919203,

+    0.0293659397581334, 0.0275272356696031, 0.0257058040085489,

+    0.0239022033057959, 0.0221170627073089, 0.0203510962300445,

+    0.0186051212757247, 0.0168800831525432, 0.0151770883079353,

+    0.0134974506017399, 0.0118427578579079, 0.0102149714397015,

+    0.00861658276939875, 0.00705087547137324, 0.00552240329925101,

+    0.00403797259336304, 0.00260907274610216, 0.0012602859304986,

+    0.000477467764609386 };

+

+  real_T x;

+  do {

+    exitg1 = 0;

+    genrand_uint32_vector(e_state, u32);

+    i = (int32_T)((u32[1] >> 24U) + 1U);

+    r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] &

+           16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i];

+    if (fabs(r) <= dv1[i - 1]) {

+      exitg1 = 1;

+    } else if (i < 256) {

+      u = b_genrandu(e_state);

+      if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) {

+        exitg1 = 1;

+      }

+    } else {

+      do {

+        u = b_genrandu(e_state);

+        x = log(u) * 0.273661237329758;

+        u = b_genrandu(e_state);

+      } while (!(-2.0 * log(u) > x * x));

+

+      if (r < 0.0) {

+        r = x - 3.65415288536101;

+      } else {

+        r = 3.65415288536101 - x;

+      }

+

+      exitg1 = 1;

+    }

+  } while (exitg1 == 0);

+

+  return r;

+}

+

+static real_T eml_rand_shr3cong(uint32_T e_state[2])

+{

+  real_T r;

+  uint32_T icng;

+  uint32_T jsr;

+  uint32_T ui;

+  int32_T j;

+  static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427,

+    0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948,

+    0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738,

+    1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008,

+    1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122,

+    1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503,

+    1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831,

+    1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713,

+    2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658,

+    2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 };

+

+  real_T x;

+  real_T y;

+  real_T s;

+  icng = 69069U * e_state[0] + 1234567U;

+  jsr = e_state[1] ^ e_state[1] << 13U;

+  jsr ^= jsr >> 17U;

+  jsr ^= jsr << 5U;

+  ui = icng + jsr;

+  j = (int32_T)(ui & 63U);

+  r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1];

+  if (fabs(r) <= dv0[j]) {

+  } else {

+    x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]);

+    icng = 69069U * icng + 1234567U;

+    jsr ^= jsr << 13U;

+    jsr ^= jsr >> 17U;

+    jsr ^= jsr << 5U;

+    y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10;

+    s = x + (0.5 + y);

+    if (s > 1.301198) {

+      if (r < 0.0) {

+        r = 0.4878992 * x - 0.4878992;

+      } else {

+        r = 0.4878992 - 0.4878992 * x;

+      }

+    } else if (s <= 0.9689279) {

+    } else {

+      s = 0.4878992 * x;

+      x = 0.4878992 - 0.4878992 * x;

+      if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) {

+        if (r < 0.0) {

+          r = -(0.4878992 - s);

+        } else {

+          r = 0.4878992 - s;

+        }

+      } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 /

+                 dv0[j + 1] <= exp(-0.5 * r * r)) {

+      } else {

+        do {

+          icng = 69069U * icng + 1234567U;

+          jsr ^= jsr << 13U;

+          jsr ^= jsr >> 17U;

+          jsr ^= jsr << 5U;

+          x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) /

+            2.776994;

+          icng = 69069U * icng + 1234567U;

+          jsr ^= jsr << 13U;

+          jsr ^= jsr >> 17U;

+          jsr ^= jsr << 5U;

+        } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) *

+                              2.328306436538696E-10) > x * x));

+

+        if (r < 0.0) {

+          r = x - 2.776994;

+        } else {

+          r = 2.776994 - x;

+        }

+      }

+    }

+  }

+

+  e_state[0] = icng;

+  e_state[1] = jsr;

+  return r;

+}

+

+static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2])

+{

+  int32_T i;

+  uint32_T mti;

+  int32_T kk;

+  uint32_T y;

+  uint32_T b_y;

+  uint32_T c_y;

+  uint32_T d_y;

+  for (i = 0; i < 2; i++) {

+    u[i] = 0U;

+  }

+

+  for (i = 0; i < 2; i++) {

+    mti = mt[624] + 1U;

+    if (mti >= 625U) {

+      for (kk = 0; kk < 227; kk++) {

+        y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U);

+        if ((int32_T)(y & 1U) == 0) {

+          b_y = y >> 1U;

+        } else {

+          b_y = y >> 1U ^ 2567483615U;

+        }

+

+        mt[kk] = mt[397 + kk] ^ b_y;

+      }

+

+      for (kk = 0; kk < 396; kk++) {

+        y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U);

+        if ((int32_T)(y & 1U) == 0) {

+          c_y = y >> 1U;

+        } else {

+          c_y = y >> 1U ^ 2567483615U;

+        }

+

+        mt[227 + kk] = mt[kk] ^ c_y;

+      }

+

+      y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U);

+      if ((int32_T)(y & 1U) == 0) {

+        d_y = y >> 1U;

+      } else {

+        d_y = y >> 1U ^ 2567483615U;

+      }

+

+      mt[623] = mt[396] ^ d_y;

+      mti = 1U;

+    }

+

+    y = mt[(int32_T)mti - 1];

+    mt[624] = mti;

+    y ^= y >> 11U;

+    y ^= y << 7U & 2636928640U;

+    y ^= y << 15U & 4022730752U;

+    y ^= y >> 18U;

+    u[i] = y;

+  }

+}

+

+static void genrandu(uint32_T s, uint32_T *e_state, real_T *r)

+{

+  int32_T hi;

+  uint32_T test1;

+  uint32_T test2;

+  hi = (int32_T)(s / 127773U);

+  test1 = 16807U * (s - (uint32_T)hi * 127773U);

+  test2 = 2836U * (uint32_T)hi;

+  if (test1 < test2) {

+    *e_state = (test1 - test2) + 2147483647U;

+  } else {

+    *e_state = test1 - test2;

+  }

+

+  *r = (real_T)*e_state * 4.6566128752457969E-10;

+}

+

+static void twister_state_vector(uint32_T mt[625], real_T seed)

+{

+  uint32_T r;

+  int32_T mti;

+  if (seed < 4.294967296E+9) {

+    if (seed >= 0.0) {

+      r = (uint32_T)seed;

+    } else {

+      r = 0U;

+    }

+  } else if (seed >= 4.294967296E+9) {

+    r = MAX_uint32_T;

+  } else {

+    r = 0U;

+  }

+

+  mt[0] = r;

+  for (mti = 0; mti < 623; mti++) {

+    r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti);

+    mt[1 + mti] = r;

+  }

+

+  mt[624] = 624U;

+}

+

+real_T randn(void)

+{

+  real_T r;

+  uint32_T e_state;

+  real_T t;

+  real_T b_r;

+  uint32_T f_state;

+  if (method == 0U) {

+    if (b_method == 4U) {

+      do {

+        genrandu(b_state, &e_state, &r);

+        genrandu(e_state, &b_state, &t);

+        b_r = 2.0 * r - 1.0;

+        t = 2.0 * t - 1.0;

+        t = t * t + b_r * b_r;

+      } while (!(t <= 1.0));

+

+      r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

+    } else if (b_method == 5U) {

+      r = eml_rand_shr3cong(c_state);

+    } else {

+      if (!state_not_empty) {

+        memset(&d_state[0], 0, 625U * sizeof(uint32_T));

+        twister_state_vector(d_state, 5489.0);

+        state_not_empty = TRUE;

+      }

+

+      r = eml_rand_mt19937ar(d_state);

+    }

+  } else if (method == 4U) {

+    e_state = state[0];

+    do {

+      genrandu(e_state, &f_state, &r);

+      genrandu(f_state, &e_state, &t);

+      b_r = 2.0 * r - 1.0;

+      t = 2.0 * t - 1.0;

+      t = t * t + b_r * b_r;

+    } while (!(t <= 1.0));

+

+    state[0] = e_state;

+    r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

+  } else {

+    r = eml_rand_shr3cong(state);

+  }

+

+  return r;

+}

+

+/* End of code generation (randn.c) */

diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h
new file mode 100755
index 000000000..8a2aa9277
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/randn.h
@@ -0,0 +1,33 @@
+/*

+ * randn.h

+ *

+ * Code generation for function 'randn'

+ *

+ * C source code generated on: Tue Feb 19 15:26:32 2013

+ *

+ */

+

+#ifndef __RANDN_H__

+#define __RANDN_H__

+/* Include files */

+#include <math.h>

+#include <stddef.h>

+#include <stdlib.h>

+#include <string.h>

+#include "rt_nonfinite.h"

+

+#include "rtwtypes.h"

+#include "kalman_dlqe3_types.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+extern real_T randn(void);

+#endif

+/* End of code generation (randn.h) */

diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c
new file mode 100755
index 000000000..c6fa7884e
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/rtGetInf.c
@@ -0,0 +1,139 @@
+/*
+ * rtGetInf.c
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+/*
+ * Abstract:
+ *       MATLAB for code generation function to initialize non-finite, Inf and MinusInf
+ */
+#include "rtGetInf.h"
+#define NumBitsPerChar	8U
+
+/* Function: rtGetInf ==================================================
+ * Abstract:
+ * Initialize rtInf needed by the generated code.
+ * Inf is initialized as non-signaling. Assumes IEEE.
+ */
+real_T rtGetInf(void)
+{
+  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
+  real_T inf = 0.0;
+  if (bitsPerReal == 32U) {
+    inf = rtGetInfF();
+  } else {
+    uint16_T one = 1U;
+    enum {
+      LittleEndian,
+      BigEndian
+    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
+    switch (machByteOrder) {
+     case LittleEndian:
+      {
+        union {
+          LittleEndianIEEEDouble bitVal;
+          real_T fltVal;
+        } tmpVal;
+
+        tmpVal.bitVal.words.wordH = 0x7FF00000U;
+        tmpVal.bitVal.words.wordL = 0x00000000U;
+        inf = tmpVal.fltVal;
+        break;
+      }
+
+     case BigEndian:
+      {
+        union {
+          BigEndianIEEEDouble bitVal;
+          real_T fltVal;
+        } tmpVal;
+
+        tmpVal.bitVal.words.wordH = 0x7FF00000U;
+        tmpVal.bitVal.words.wordL = 0x00000000U;
+        inf = tmpVal.fltVal;
+        break;
+      }
+    }
+  }
+
+  return inf;
+}
+
+/* Function: rtGetInfF ==================================================
+ * Abstract:
+ * Initialize rtInfF needed by the generated code.
+ * Inf is initialized as non-signaling. Assumes IEEE.
+ */
+real32_T rtGetInfF(void)
+{
+  IEEESingle infF;
+  infF.wordL.wordLuint = 0x7F800000U;
+  return infF.wordL.wordLreal;
+}
+
+/* Function: rtGetMinusInf ==================================================
+ * Abstract:
+ * Initialize rtMinusInf needed by the generated code.
+ * Inf is initialized as non-signaling. Assumes IEEE.
+ */
+real_T rtGetMinusInf(void)
+{
+  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
+  real_T minf = 0.0;
+  if (bitsPerReal == 32U) {
+    minf = rtGetMinusInfF();
+  } else {
+    uint16_T one = 1U;
+    enum {
+      LittleEndian,
+      BigEndian
+    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
+    switch (machByteOrder) {
+     case LittleEndian:
+      {
+        union {
+          LittleEndianIEEEDouble bitVal;
+          real_T fltVal;
+        } tmpVal;
+
+        tmpVal.bitVal.words.wordH = 0xFFF00000U;
+        tmpVal.bitVal.words.wordL = 0x00000000U;
+        minf = tmpVal.fltVal;
+        break;
+      }
+
+     case BigEndian:
+      {
+        union {
+          BigEndianIEEEDouble bitVal;
+          real_T fltVal;
+        } tmpVal;
+
+        tmpVal.bitVal.words.wordH = 0xFFF00000U;
+        tmpVal.bitVal.words.wordL = 0x00000000U;
+        minf = tmpVal.fltVal;
+        break;
+      }
+    }
+  }
+
+  return minf;
+}
+
+/* Function: rtGetMinusInfF ==================================================
+ * Abstract:
+ * Initialize rtMinusInfF needed by the generated code.
+ * Inf is initialized as non-signaling. Assumes IEEE.
+ */
+real32_T rtGetMinusInfF(void)
+{
+  IEEESingle minfF;
+  minfF.wordL.wordLuint = 0xFF800000U;
+  return minfF.wordL.wordLreal;
+}
+
+/* End of code generation (rtGetInf.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h
new file mode 100755
index 000000000..e7b2a2d1c
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/rtGetInf.h
@@ -0,0 +1,23 @@
+/*
+ * rtGetInf.h
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+#ifndef __RTGETINF_H__
+#define __RTGETINF_H__
+
+#include <stddef.h>
+#include "rtwtypes.h"
+#include "rt_nonfinite.h"
+
+extern real_T rtGetInf(void);
+extern real32_T rtGetInfF(void);
+extern real_T rtGetMinusInf(void);
+extern real32_T rtGetMinusInfF(void);
+
+#endif
+/* End of code generation (rtGetInf.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
new file mode 100755
index 000000000..552770149
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
@@ -0,0 +1,96 @@
+/*
+ * rtGetNaN.c
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+/*
+ * Abstract:
+ *       MATLAB for code generation function to initialize non-finite, NaN
+ */
+#include "rtGetNaN.h"
+#define NumBitsPerChar	8U
+
+/* Function: rtGetNaN ==================================================
+ * Abstract:
+ * Initialize rtNaN needed by the generated code.
+ * NaN is initialized as non-signaling. Assumes IEEE.
+ */
+real_T rtGetNaN(void)
+{
+  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
+  real_T nan = 0.0;
+  if (bitsPerReal == 32U) {
+    nan = rtGetNaNF();
+  } else {
+  uint16_T one = 1U;
+  enum {
+    LittleEndian,
+    BigEndian
+  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
+  switch (machByteOrder) {
+   case LittleEndian:
+    {
+      union {
+        LittleEndianIEEEDouble bitVal;
+        real_T fltVal;
+      } tmpVal;
+
+      tmpVal.bitVal.words.wordH = 0xFFF80000U;
+      tmpVal.bitVal.words.wordL = 0x00000000U;
+      nan = tmpVal.fltVal;
+      break;
+    }
+
+   case BigEndian:
+    {
+        union {
+          BigEndianIEEEDouble bitVal;
+          real_T fltVal;
+        } tmpVal;
+
+        tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
+        tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
+        nan = tmpVal.fltVal;
+        break;
+      }
+    }
+  }
+
+  return nan;
+}
+
+/* Function: rtGetNaNF ==================================================
+ * Abstract:
+ * Initialize rtNaNF needed by the generated code.
+ * NaN is initialized as non-signaling. Assumes IEEE.
+ */
+real32_T rtGetNaNF(void)
+{
+  IEEESingle nanF = { { 0 } };
+  uint16_T one = 1U;
+  enum {
+    LittleEndian,
+    BigEndian
+  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
+  switch (machByteOrder) {
+   case LittleEndian:
+    {
+      nanF.wordL.wordLuint = 0xFFC00000U;
+      break;
+    }
+
+   case BigEndian:
+    {
+      nanF.wordL.wordLuint = 0x7FFFFFFFU;
+      break;
+    }
+  }
+
+  return nanF.wordL.wordLreal;
+}
+
+/* End of code generation (rtGetNaN.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
new file mode 100755
index 000000000..5acdd9790
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
@@ -0,0 +1,21 @@
+/*
+ * rtGetNaN.h
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+#ifndef __RTGETNAN_H__
+#define __RTGETNAN_H__
+
+#include <stddef.h>
+#include "rtwtypes.h"
+#include "rt_nonfinite.h"
+
+extern real_T rtGetNaN(void);
+extern real32_T rtGetNaNF(void);
+
+#endif
+/* End of code generation (rtGetNaN.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
new file mode 100755
index 000000000..de121c4a0
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
@@ -0,0 +1,87 @@
+/*
+ * rt_nonfinite.c
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+/*
+ * Abstract:
+ *      MATLAB for code generation function to initialize non-finites,
+ *      (Inf, NaN and -Inf).
+ */
+#include "rt_nonfinite.h"
+#include "rtGetNaN.h"
+#include "rtGetInf.h"
+
+real_T rtInf;
+real_T rtMinusInf;
+real_T rtNaN;
+real32_T rtInfF;
+real32_T rtMinusInfF;
+real32_T rtNaNF;
+
+/* Function: rt_InitInfAndNaN ==================================================
+ * Abstract:
+ * Initialize the rtInf, rtMinusInf, and rtNaN needed by the
+ * generated code. NaN is initialized as non-signaling. Assumes IEEE.
+ */
+void rt_InitInfAndNaN(size_t realSize)
+{
+  (void) (realSize);
+  rtNaN = rtGetNaN();
+  rtNaNF = rtGetNaNF();
+  rtInf = rtGetInf();
+  rtInfF = rtGetInfF();
+  rtMinusInf = rtGetMinusInf();
+  rtMinusInfF = rtGetMinusInfF();
+}
+
+/* Function: rtIsInf ==================================================
+ * Abstract:
+ * Test if value is infinite
+ */
+boolean_T rtIsInf(real_T value)
+{
+  return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
+}
+
+/* Function: rtIsInfF =================================================
+ * Abstract:
+ * Test if single-precision value is infinite
+ */
+boolean_T rtIsInfF(real32_T value)
+{
+  return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
+}
+
+/* Function: rtIsNaN ==================================================
+ * Abstract:
+ * Test if value is not a number
+ */
+boolean_T rtIsNaN(real_T value)
+{
+#if defined(_MSC_VER) && (_MSC_VER <= 1200)
+  return _isnan(value)? TRUE:FALSE;
+#else
+  return (value!=value)? 1U:0U;
+#endif
+}
+
+/* Function: rtIsNaNF =================================================
+ * Abstract:
+ * Test if single-precision value is not a number
+ */
+boolean_T rtIsNaNF(real32_T value)
+{
+#if defined(_MSC_VER) && (_MSC_VER <= 1200)
+  return _isnan((real_T)value)? true:false;
+#else
+  return (value!=value)? 1U:0U;
+#endif
+}
+
+
+/* End of code generation (rt_nonfinite.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
new file mode 100755
index 000000000..3bbcfd087
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
@@ -0,0 +1,53 @@
+/*
+ * rt_nonfinite.h
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+#ifndef __RT_NONFINITE_H__
+#define __RT_NONFINITE_H__
+
+#if defined(_MSC_VER) && (_MSC_VER <= 1200)
+#include <float.h>
+#endif
+#include <stddef.h>
+#include "rtwtypes.h"
+
+extern real_T rtInf;
+extern real_T rtMinusInf;
+extern real_T rtNaN;
+extern real32_T rtInfF;
+extern real32_T rtMinusInfF;
+extern real32_T rtNaNF;
+extern void rt_InitInfAndNaN(size_t realSize);
+extern boolean_T rtIsInf(real_T value);
+extern boolean_T rtIsInfF(real32_T value);
+extern boolean_T rtIsNaN(real_T value);
+extern boolean_T rtIsNaNF(real32_T value);
+
+typedef struct {
+  struct {
+    uint32_T wordH;
+    uint32_T wordL;
+  } words;
+} BigEndianIEEEDouble;
+
+typedef struct {
+  struct {
+    uint32_T wordL;
+    uint32_T wordH;
+  } words;
+} LittleEndianIEEEDouble;
+
+typedef struct {
+  union {
+    real32_T wordLreal;
+    uint32_T wordLuint;
+  } wordL;
+} IEEESingle;
+
+#endif
+/* End of code generation (rt_nonfinite.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h
new file mode 100755
index 000000000..8916e8572
--- /dev/null
+++ b/src/modules/position_estimator_mc/codegen/rtwtypes.h
@@ -0,0 +1,159 @@
+/*
+ * rtwtypes.h
+ *
+ * Code generation for function 'kalman_dlqe2'
+ *
+ * C source code generated on: Thu Feb 14 12:52:29 2013
+ *
+ */
+
+#ifndef __RTWTYPES_H__
+#define __RTWTYPES_H__
+#ifndef TRUE
+# define TRUE (1U)
+#endif
+#ifndef FALSE
+# define FALSE (0U)
+#endif
+#ifndef __TMWTYPES__
+#define __TMWTYPES__
+
+#include <limits.h>
+
+/*=======================================================================* 
+ * Target hardware information
+ *   Device type: Generic->MATLAB Host Computer
+ *   Number of bits:     char:   8    short:   16    int:  32
+ *                       long:  32      native word size:  32
+ *   Byte ordering: LittleEndian
+ *   Signed integer division rounds to: Undefined
+ *   Shift right on a signed integer as arithmetic shift: off
+ *=======================================================================*/
+
+/*=======================================================================* 
+ * Fixed width word size data types:                                     * 
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
+ *   real32_T, real64_T           - 32 and 64 bit floating point numbers * 
+ *=======================================================================*/
+
+typedef signed char int8_T;
+typedef unsigned char uint8_T;
+typedef short int16_T;
+typedef unsigned short uint16_T;
+typedef int int32_T;
+typedef unsigned int uint32_T;
+typedef float real32_T;
+typedef double real64_T;
+
+/*===========================================================================* 
+ * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T,       * 
+ *                           ulong_T, char_T and byte_T.                     * 
+ *===========================================================================*/
+
+typedef double real_T;
+typedef double time_T;
+typedef unsigned char boolean_T;
+typedef int int_T;
+typedef unsigned int uint_T;
+typedef unsigned long ulong_T;
+typedef char char_T;
+typedef char_T byte_T;
+
+/*===========================================================================* 
+ * Complex number type definitions                                           * 
+ *===========================================================================*/
+#define CREAL_T	
+   typedef struct {  
+     real32_T re;  
+     real32_T im;  
+   } creal32_T;  
+
+   typedef struct {  
+     real64_T re;  
+     real64_T im;  
+   } creal64_T;  
+
+   typedef struct {  
+     real_T re;  
+     real_T im;  
+   } creal_T;  
+
+   typedef struct {  
+     int8_T re;  
+     int8_T im;  
+   } cint8_T;  
+
+   typedef struct {  
+     uint8_T re;  
+     uint8_T im;  
+   } cuint8_T;  
+
+   typedef struct {  
+     int16_T re;  
+     int16_T im;  
+   } cint16_T;  
+
+   typedef struct {  
+     uint16_T re;  
+     uint16_T im;  
+   } cuint16_T;  
+
+   typedef struct {  
+     int32_T re;  
+     int32_T im;  
+   } cint32_T;  
+
+   typedef struct {  
+     uint32_T re;  
+     uint32_T im;  
+   } cuint32_T;  
+
+
+/*=======================================================================* 
+ * Min and Max:                                                          * 
+ *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
+ *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
+ *=======================================================================*/
+
+#define MAX_int8_T  	((int8_T)(127))
+#define MIN_int8_T  	((int8_T)(-128))
+#define MAX_uint8_T 	((uint8_T)(255))
+#define MIN_uint8_T 	((uint8_T)(0))
+#define MAX_int16_T 	((int16_T)(32767))
+#define MIN_int16_T 	((int16_T)(-32768))
+#define MAX_uint16_T	((uint16_T)(65535))
+#define MIN_uint16_T	((uint16_T)(0))
+#define MAX_int32_T 	((int32_T)(2147483647))
+#define MIN_int32_T 	((int32_T)(-2147483647-1))
+#define MAX_uint32_T	((uint32_T)(0xFFFFFFFFU))
+#define MIN_uint32_T	((uint32_T)(0))
+
+/* Logical type definitions */
+#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
+#  ifndef false
+#   define false (0U)
+#  endif
+#  ifndef true
+#   define true (1U)
+#  endif
+#endif
+
+/*
+ * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
+ * for signed integer values.
+ */
+#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
+#error "This code must be compiled using a 2's complement representation for signed integer values"
+#endif
+
+/*
+ * Maximum length of a MATLAB identifier (function/variable)
+ * including the null-termination character. Referenced by
+ * rt_logging.c and rt_matrx.c.
+ */
+#define TMW_NAME_LENGTH_MAX	64
+
+#endif
+#endif
+/* End of code generation (rtwtypes.h) */
diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m
new file mode 100755
index 000000000..ff939d029
--- /dev/null
+++ b/src/modules/position_estimator_mc/kalman_dlqe1.m
@@ -0,0 +1,3 @@
+function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z)
+    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
+end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m
new file mode 100755
index 000000000..2a50164ef
--- /dev/null
+++ b/src/modules/position_estimator_mc/kalman_dlqe2.m
@@ -0,0 +1,9 @@
+function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z)
+    st = 1/2*dt^2;
+    A = [1,dt,st;
+        0,1,dt;
+        0,0,1];
+    C=[1,0,0];
+    K = [k1;k2;k3];
+    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
+end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m
new file mode 100755
index 000000000..4c6421b7f
--- /dev/null
+++ b/src/modules/position_estimator_mc/kalman_dlqe3.m
@@ -0,0 +1,17 @@
+function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma)

+    st = 1/2*dt^2;

+    A = [1,dt,st;

+        0,1,dt;

+        0,0,1];

+    C=[1,0,0];

+    K = [k1;k2;k3];

+    if addNoise==1

+        noise = sigma*randn(1,1);

+        z = z + noise;

+    end

+    if(posUpdate)

+        x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);

+    else

+        x_aposteriori=A*x_aposteriori_k;

+    end

+end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk
new file mode 100644
index 000000000..40b135ea4
--- /dev/null
+++ b/src/modules/position_estimator_mc/module.mk
@@ -0,0 +1,60 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Makefile to build the position estimator
+#
+
+MODULE_COMMAND	 = position_estimator_mc
+
+SRCS		 = position_estimator_mc_main.c \
+			   position_estimator_mc_params.c \
+			   codegen/positionKalmanFilter1D_initialize.c \
+			   codegen/positionKalmanFilter1D_terminate.c \
+			   codegen/positionKalmanFilter1D.c \
+			   codegen/rt_nonfinite.c \
+			   codegen/rtGetInf.c \
+			   codegen/rtGetNaN.c \
+			   codegen/positionKalmanFilter1D_dT_initialize.c \
+			   codegen/positionKalmanFilter1D_dT_terminate.c \
+			   codegen/kalman_dlqe1.c \
+			   codegen/kalman_dlqe1_initialize.c \
+			   codegen/kalman_dlqe1_terminate.c \
+			   codegen/kalman_dlqe2.c \
+			   codegen/kalman_dlqe2_initialize.c \
+			   codegen/kalman_dlqe2_terminate.c \
+			   codegen/kalman_dlqe3.c \
+			   codegen/kalman_dlqe3_initialize.c \
+			   codegen/kalman_dlqe3_terminate.c \
+			   codegen/kalman_dlqe3_data.c \
+			   codegen/randn.c
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
new file mode 100755
index 000000000..144ff8c7c
--- /dev/null
+++ b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
@@ -0,0 +1,19 @@
+function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
+%prediction
+    x_apriori=A*x_aposteriori_k+B*u;
+    P_apriori=A*P_aposteriori_k*A'+Q;
+    if abs(u)<thresh
+        x_apriori(2)=decay*x_apriori(2);
+    end
+    %update
+    if gps_update==1
+        y=z-C*x_apriori;
+        S=C*P_apriori*C'+R;
+        K=(P_apriori*C')/S;
+        x_aposteriori=x_apriori+K*y;
+        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
+    else
+        x_aposteriori=x_apriori;
+        P_aposteriori=P_apriori;
+    end
+end
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
new file mode 100755
index 000000000..f94cce1fb
--- /dev/null
+++ b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
@@ -0,0 +1,26 @@
+function  [x_aposteriori,P_aposteriori]=positionKalmanFilter1D_dT(dT,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
+    %dynamics
+    A = [1 dT -0.5*dT*dT;
+         0 1 -dT;
+         0 0 1];
+    B = [0.5*dT*dT; dT; 0];
+    C = [1 0 0];
+    %prediction
+    x_apriori=A*x_aposteriori_k+B*u;
+    P_apriori=A*P_aposteriori_k*A'+Q;
+    if abs(u)<thresh
+        x_apriori(2)=decay*x_apriori(2);
+    end
+    %update
+    if gps_update==1
+        y=z-C*x_apriori;
+        S=C*P_apriori*C'+R;
+        K=(P_apriori*C')/S;
+        x_aposteriori=x_apriori+K*y;
+        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
+    else
+        x_aposteriori=x_apriori;
+        P_aposteriori=P_apriori;
+    end
+end
+
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c
new file mode 100755
index 000000000..10dee3f22
--- /dev/null
+++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c
@@ -0,0 +1,510 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: 	Damian Aregger	<daregger@student.ethz.ch>
+ *   			Tobias Naegeli <naegelit@student.ethz.ch>
+* 				Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file position_estimator_main.c
+ * Model-identification based position estimator for multirotors
+ */
+
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <float.h>
+#include <string.h>
+#include <nuttx/config.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <limits.h>
+#include <math.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_vicon_position.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <mavlink/mavlink_log.h>
+#include <poll.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <drivers/drv_hrt.h>
+
+#include "position_estimator_mc_params.h"
+//#include <uORB/topics/debug_key_value.h>
+#include "codegen/kalman_dlqe2.h"
+#include "codegen/kalman_dlqe2_initialize.h"
+#include "codegen/kalman_dlqe3.h"
+#include "codegen/kalman_dlqe3_initialize.h"
+
+static bool thread_should_exit = false;	/**< Deamon exit flag */
+static bool thread_running = false;	/**< Deamon status flag */
+static int position_estimator_mc_task;	/**< Handle of deamon task / thread */
+
+__EXPORT int position_estimator_mc_main(int argc, char *argv[]);
+
+int position_estimator_mc_thread_main(int argc, char *argv[]);
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		warnx("%s\n", reason);
+	warnx("usage: position_estimator_mc {start|stop|status}");
+	exit(1);
+}
+
+/**
+ * The position_estimator_mc_thread only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int position_estimator_mc_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("position_estimator_mc already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		position_estimator_mc_task = task_spawn("position_estimator_mc",
+					 SCHED_RR,
+					 SCHED_PRIORITY_MAX - 5,
+					 4096,
+					 position_estimator_mc_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("position_estimator_mc is running");
+		} else {
+			warnx("position_estimator_mc not started");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+/****************************************************************************
+ * main
+ ****************************************************************************/
+int position_estimator_mc_thread_main(int argc, char *argv[])
+{
+	/* welcome user */
+	warnx("[position_estimator_mc] started");
+	int mavlink_fd;
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+	mavlink_log_info(mavlink_fd, "[position_estimator_mc] started");
+
+	/* initialize values */
+	float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */
+	// float rotMatrix[4] = {1.0f,  0.0f, 0.0f,  1.0f};
+	float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
+	float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
+	float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
+	float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f};
+	float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f};
+	float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f};
+
+	// XXX this is terribly wrong and should actual dT instead
+	const float dT_const_50 = 1.0f/50.0f;
+
+	float addNoise = 0.0f;
+	float sigma = 0.0f;
+	//computed from dlqe in matlab
+	const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f};
+	// XXX implement baro filter
+	const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f};
+	float K[3] = {0.0f, 0.0f, 0.0f};
+	int baro_loop_cnt = 0;
+	int baro_loop_end = 70; /* measurement for 1 second */
+	float p0_Pa = 0.0f; /* to determin while start up */
+	float rho0 = 1.293f; /* standard pressure */
+	const float const_earth_gravity = 9.81f;
+
+	float posX = 0.0f;
+	float posY = 0.0f;
+	float posZ = 0.0f;
+
+	double lat_current;
+	double lon_current;
+	float alt_current;
+
+	float gps_origin_altitude = 0.0f;
+
+	/* Initialize filter */
+	kalman_dlqe2_initialize();
+	kalman_dlqe3_initialize();
+
+	/* declare and safely initialize all structs */
+	struct sensor_combined_s sensor;
+	memset(&sensor, 0, sizeof(sensor));
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */
+	struct vehicle_vicon_position_s vicon_pos;
+	memset(&vicon_pos, 0, sizeof(vicon_pos));
+	struct actuator_controls_effective_s act_eff;
+	memset(&act_eff, 0, sizeof(act_eff));
+	struct vehicle_gps_position_s gps;
+	memset(&gps, 0, sizeof(gps));
+	struct vehicle_local_position_s local_pos_est;
+	memset(&local_pos_est, 0, sizeof(local_pos_est));
+	struct vehicle_global_position_s global_pos_est;
+	memset(&global_pos_est, 0, sizeof(global_pos_est));
+
+	/* subscribe */
+	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	int sub_params = orb_subscribe(ORB_ID(parameter_update));
+	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
+	int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0));
+	int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+
+	/* advertise */
+	orb_advert_t local_pos_est_pub = 0;
+	orb_advert_t global_pos_est_pub = 0;
+
+	struct position_estimator_mc_params pos1D_params;
+	struct position_estimator_mc_param_handles pos1D_param_handles;
+	/* initialize parameter handles */
+	parameters_init(&pos1D_param_handles);
+
+	bool flag_use_gps = false;
+	bool flag_use_baro = false;
+	bool flag_baro_initialized = false; /* in any case disable baroINITdone */
+	/* FIRST PARAMETER READ at START UP*/
+	struct parameter_update_s update;
+	orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */
+	/* FIRST PARAMETER UPDATE */
+	parameters_update(&pos1D_param_handles, &pos1D_params);
+	flag_use_baro = pos1D_params.baro;
+	sigma = pos1D_params.sigma;
+	addNoise = pos1D_params.addNoise;
+	/* END FIRST PARAMETER UPDATE */
+
+	/* try to grab a vicon message - if it fails, go for GPS. */
+
+	/* make sure the next orb_check() can't return true unless we get a timely update */
+	orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
+	/* allow 200 ms for vicon to come in */
+	usleep(200000);
+	/* check if we got vicon */
+	bool update_check;
+	orb_check(vicon_pos_sub, &update_check);
+	/* if no update was available, use GPS */
+	flag_use_gps = !update_check;
+
+	if (flag_use_gps) {
+		mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked");
+		/* wait until gps signal turns valid, only then can we initialize the projection */
+
+		// XXX magic number
+		float hdop_threshold_m = 4.0f;
+		float vdop_threshold_m = 8.0f;
+
+		/*
+		 * If horizontal dilution of precision (hdop / eph)
+		 * and vertical diluation of precision (vdop / epv)
+		 * are below a certain threshold (e.g. 4 m), AND
+		 * home position is not yet set AND the last GPS
+		 * GPS measurement is not older than two seconds AND
+		 * the system is currently not armed, set home
+		 * position to the current position.
+		 */
+
+		while (!(gps.fix_type == 3
+			&& (gps.eph_m < hdop_threshold_m)
+			&& (gps.epv_m < vdop_threshold_m)
+			&& (hrt_absolute_time() - gps.timestamp_position < 2000000))) {
+
+			struct pollfd fds1[2] = {
+					{ .fd = vehicle_gps_sub, .events = POLLIN },
+					{ .fd = sub_params,   .events = POLLIN },
+			};
+
+			/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
+			 * this choice is critical, since the vehicle status might not
+			 * actually change, if this app is started after GPS lock was
+			 * aquired.
+			 */
+			if (poll(fds1, 2, 5000)) {
+				if (fds1[0].revents & POLLIN){
+					/* Read gps position */
+					orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
+				}
+				if (fds1[1].revents & POLLIN){
+					/* Read out parameters to check for an update there, e.g. useGPS variable */
+					/* read from param to clear updated flag */
+					struct parameter_update_s updated;
+					orb_copy(ORB_ID(parameter_update), sub_params, &updated);
+					/* update parameters */
+					parameters_update(&pos1D_param_handles, &pos1D_params);
+				}
+			}
+			static int printcounter = 0;
+			if (printcounter == 100) {
+				printcounter = 0;
+				warnx("[pos_est_mc] wait for GPS fix");
+			}
+			printcounter++;
+		}
+
+		/* get gps value for first initialization */
+		orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
+		lat_current = ((double)(gps.lat)) * 1e-7d;
+		lon_current = ((double)(gps.lon)) * 1e-7d;
+		alt_current = gps.alt * 1e-3f;
+		gps_origin_altitude = alt_current;
+		/* initialize coordinates */
+		map_projection_init(lat_current, lon_current);
+		/* publish global position messages only after first GPS message */
+		printf("[pos_est_mc] initialized projection with: lat: %.10f,  lon:%.10f\n", lat_current, lon_current);
+
+	} else {
+		mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON");
+		/* onboard calculated position estimations */
+	}
+	thread_running = true;
+
+	struct pollfd fds2[3] = {
+		{ .fd = vehicle_gps_sub,   .events = POLLIN },
+		{ .fd = vicon_pos_sub,   .events = POLLIN },
+		{ .fd = sub_params,   .events = POLLIN },
+	};
+
+	bool vicon_updated = false;
+	bool gps_updated = false;
+
+	/**< main_loop */
+	while (!thread_should_exit) {
+		int ret = poll(fds2, 3, 20);  //wait maximal this 20 ms = 50 Hz minimum rate
+		if (ret < 0) {
+			/* poll error */
+		} else {
+			if (fds2[2].revents & POLLIN){
+				/* new parameter */
+				/* read from param to clear updated flag */
+				struct parameter_update_s updated;
+				orb_copy(ORB_ID(parameter_update), sub_params, &updated);
+				/* update parameters */
+				parameters_update(&pos1D_param_handles, &pos1D_params);
+				flag_use_baro = pos1D_params.baro;
+				sigma = pos1D_params.sigma;
+				addNoise = pos1D_params.addNoise;
+			}
+			vicon_updated = false; /* default is no vicon_updated */
+			if (fds2[1].revents & POLLIN) {
+				/* new vicon position */
+				orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
+				posX = vicon_pos.x;
+				posY = vicon_pos.y;
+				posZ = vicon_pos.z;
+				vicon_updated = true; /* set flag for vicon update */
+			} /* end of poll call for vicon updates */
+			gps_updated = false;
+			if (fds2[0].revents & POLLIN) {
+				/* new GPS value */
+				orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
+				/* Project gps lat lon (Geographic coordinate system) to plane*/
+				map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1]));
+				posX = z[0];
+				posY = z[1];
+				posZ = (float)(gps.alt * 1e-3f);
+				gps_updated = true;
+			}
+
+			/* Main estimator loop */
+			orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff);
+			orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
+			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor);
+			// barometric pressure estimation at start up
+			if (!flag_baro_initialized){
+				// mean calculation over several measurements
+				if (baro_loop_cnt<baro_loop_end) {
+					p0_Pa += (sensor.baro_pres_mbar*100);
+					baro_loop_cnt++;
+				} else {
+					p0_Pa /= (float)(baro_loop_cnt);
+					flag_baro_initialized = true;
+					char *baro_m_start = "barometer initialized with p0 = ";
+					char p0_char[15];
+					sprintf(p0_char, "%8.2f", (double)(p0_Pa/100));
+					char *baro_m_end = " mbar";
+					char str[80];
+					strcpy(str,baro_m_start);
+					strcat(str,p0_char);
+					strcat(str,baro_m_end);
+					mavlink_log_info(mavlink_fd, str);
+				}
+			}
+			if (flag_use_gps) {
+				/* initialize map projection with the last estimate (not at full rate) */
+				if (gps.fix_type > 2) {
+					/* x-y-position/velocity estimation in earth frame = gps frame */
+					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori);
+					memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
+					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori);
+					memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
+					/* z-position/velocity estimation in earth frame = vicon frame */
+					float z_est = 0.0f;
+					if (flag_baro_initialized && flag_use_baro) {
+						z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity);
+						K[0] = K_vicon_50Hz[0];
+						K[1] = K_vicon_50Hz[1];
+						K[2] = K_vicon_50Hz[2];
+						gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */
+					} else {
+						z_est = posZ;
+						K[0] = K_vicon_50Hz[0];
+						K[1] = K_vicon_50Hz[1];
+						K[2] = K_vicon_50Hz[2];
+					}
+
+					kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori);
+					memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
+					local_pos_est.x = x_x_aposteriori_k[0];
+					local_pos_est.vx = x_x_aposteriori_k[1];
+					local_pos_est.y = x_y_aposteriori_k[0];
+					local_pos_est.vy = x_y_aposteriori_k[1];
+					local_pos_est.z = x_z_aposteriori_k[0];
+					local_pos_est.vz = x_z_aposteriori_k[1];
+					local_pos_est.timestamp = hrt_absolute_time();
+					if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) {
+						/* publish local position estimate */
+						if (local_pos_est_pub > 0) {
+							orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
+						} else {
+							local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
+						}
+						/* publish on GPS updates */
+						if (gps_updated) {
+
+							double lat, lon;
+							float alt = z_est + gps_origin_altitude;
+
+							map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon);
+
+							global_pos_est.lat = lat;
+							global_pos_est.lon = lon;
+							global_pos_est.alt = alt;
+
+							if (global_pos_est_pub > 0) {
+								orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est);
+							} else {
+								global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est);
+							}
+						}
+					}
+				}
+			} else {
+				/* x-y-position/velocity estimation in earth frame = vicon frame */
+				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori);
+				memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
+				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori);
+				memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
+				/* z-position/velocity estimation in earth frame = vicon frame */
+				float z_est = 0.0f;
+				float local_sigma = 0.0f;
+				if (flag_baro_initialized && flag_use_baro) {
+					z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity);
+					K[0] = K_vicon_50Hz[0];
+					K[1] = K_vicon_50Hz[1];
+					K[2] = K_vicon_50Hz[2];
+					vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */
+					local_sigma = 0.0f; /* don't add noise on barometer in any case */
+				} else {
+					z_est = posZ;
+					K[0] = K_vicon_50Hz[0];
+					K[1] = K_vicon_50Hz[1];
+					K[2] = K_vicon_50Hz[2];
+					local_sigma = sigma;
+				}
+				kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori);
+				memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
+				local_pos_est.x = x_x_aposteriori_k[0];
+				local_pos_est.vx = x_x_aposteriori_k[1];
+				local_pos_est.y = x_y_aposteriori_k[0];
+				local_pos_est.vy = x_y_aposteriori_k[1];
+				local_pos_est.z = x_z_aposteriori_k[0];
+				local_pos_est.vz = x_z_aposteriori_k[1];
+				local_pos_est.timestamp = hrt_absolute_time();
+				if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){
+					orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
+				}
+			}
+		} /* end of poll return value check */
+	}
+
+	printf("[pos_est_mc] exiting.\n");
+	mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting");
+	thread_running = false;
+	return 0;
+}
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c
new file mode 100755
index 000000000..72e5bc73b
--- /dev/null
+++ b/src/modules/position_estimator_mc/position_estimator_mc_params.c
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: 	Damian Aregger <daregger@student.ethz.ch>
+ *   			Tobias Naegeli <naegelit@student.ethz.ch>
+* 				Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file position_estimator_mc_params.c
+ * 
+ * Parameters for position_estimator_mc
+ */
+
+#include "position_estimator_mc_params.h"
+
+/* Kalman Filter covariances */
+/* gps measurement noise standard deviation */
+PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f);
+PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f);
+PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f);
+PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f);
+
+int parameters_init(struct position_estimator_mc_param_handles *h)
+{
+	h->addNoise	= param_find("POS_EST_ADDN");
+	h->sigma = param_find("POS_EST_SIGMA");
+	h->r = param_find("POS_EST_R");
+	h->baro_param_handle = param_find("POS_EST_BARO");
+	return OK;
+}
+
+int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p)
+{
+	param_get(h->addNoise, &(p->addNoise));
+	param_get(h->sigma, &(p->sigma));
+	param_get(h->r, &(p->R));
+	param_get(h->baro_param_handle, &(p->baro));
+	return OK;
+}
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h
new file mode 100755
index 000000000..c4c95f7b4
--- /dev/null
+++ b/src/modules/position_estimator_mc/position_estimator_mc_params.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: 	Damian Aregger <daregger@student.ethz.ch>
+ *   			Tobias Naegeli <naegelit@student.ethz.ch>
+ *				Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file position_estimator_mc_params.h
+ * 
+ * Parameters for Position Estimator
+ */
+
+#include <systemlib/param/param.h>
+
+struct position_estimator_mc_params {
+	float addNoise;
+	float sigma;
+	float R;
+	int baro; /* consider barometer */
+};
+
+struct position_estimator_mc_param_handles {
+	param_t addNoise;
+	param_t sigma;
+	param_t r;
+	param_t baro_param_handle;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct position_estimator_mc_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p);
diff --git a/src/modules/sdlog/module.mk b/src/modules/sdlog/module.mk
new file mode 100644
index 000000000..89da2d827
--- /dev/null
+++ b/src/modules/sdlog/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# sdlog Application
+#
+
+MODULE_COMMAND	 = sdlog
+# The main thread only buffers to RAM, needs a high priority
+MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
+
+SRCS		 = sdlog.c \
+		   sdlog_ringbuffer.c
diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c
new file mode 100644
index 000000000..df8745d9f
--- /dev/null
+++ b/src/modules/sdlog/sdlog.c
@@ -0,0 +1,829 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog.c
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Simple SD logger for flight data. Buffers new sensor values and
+ * does the heavy SD I/O in a low-priority worker thread.
+ */
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/prctl.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include <systemlib/err.h>
+#include <unistd.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_vicon_position.h>
+#include <uORB/topics/optical_flow.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/differential_pressure.h>
+
+#include <systemlib/systemlib.h>
+
+#include <mavlink/mavlink_log.h>
+
+#include "sdlog_ringbuffer.h"
+
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
+static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log folders */
+
+static const char *mountpoint = "/fs/microsd";
+static const char *mfile_in = "/etc/logging/logconv.m";
+int sysvector_file = -1;
+int mavlink_fd = -1;
+struct sdlog_logbuffer lb;
+
+/* mutex / condition to synchronize threads */
+pthread_mutex_t sysvector_mutex;
+pthread_cond_t sysvector_cond;
+
+/**
+ * System state vector log buffer writing
+ */
+static void *sdlog_sysvector_write_thread(void *arg);
+
+/**
+ * Create the thread to write the system vector
+ */
+pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf);
+
+/**
+ * SD log management function.
+ */
+__EXPORT int sdlog_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of sd log deamon.
+ */
+int sdlog_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static int file_exist(const char *filename);
+
+static int file_copy(const char *file_old, const char *file_new);
+
+static void handle_command(struct vehicle_command_s *cmd);
+
+/**
+ * Print the current status.
+ */
+static void print_sdlog_status(void);
+
+/**
+ * Create folder for current logging session.
+ */
+static int create_logfolder(char *folder_path);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
+}
+
+// XXX turn this into a C++ class
+unsigned sensor_combined_bytes = 0;
+unsigned actuator_outputs_bytes = 0;
+unsigned actuator_controls_bytes = 0;
+unsigned sysvector_bytes = 0;
+unsigned blackbox_file_bytes = 0;
+uint64_t starttime = 0;
+
+/* logging on or off, default to true */
+bool logging_enabled = true;
+
+/**
+ * The sd log deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_spawn().
+ */
+int sdlog_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("sdlog already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("sdlog",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_DEFAULT - 30,
+					 4096,
+					 sdlog_thread_main,
+					 (const char **)argv);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		if (!thread_running) {
+			printf("\tsdlog is not started\n");
+		}
+
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			print_sdlog_status();
+
+		} else {
+			printf("\tsdlog not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int create_logfolder(char *folder_path)
+{
+	/* make folder on sdcard */
+	uint16_t foldernumber = 1; // start with folder 0001
+	int mkdir_ret;
+
+	/* look for the next folder that does not exist */
+	while (foldernumber < MAX_NO_LOGFOLDER) {
+		/* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
+		sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
+		mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
+		/* the result is -1 if the folder exists */
+
+		if (mkdir_ret == 0) {
+			/* folder does not exist, success */
+
+			/* now copy the Matlab/Octave file */
+			char mfile_out[100];
+			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
+			int ret = file_copy(mfile_in, mfile_out);
+
+			if (!ret) {
+				warnx("copied m file to %s", mfile_out);
+
+			} else {
+				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
+			}
+
+			break;
+
+		} else if (mkdir_ret == -1) {
+			/* folder exists already */
+			foldernumber++;
+			continue;
+
+		} else {
+			warn("failed creating new folder");
+			return -1;
+		}
+	}
+
+	if (foldernumber >= MAX_NO_LOGFOLDER) {
+		/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
+		warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
+		return -1;
+	}
+
+	return 0;
+}
+
+
+static void *
+sdlog_sysvector_write_thread(void *arg)
+{
+	/* set name */
+	prctl(PR_SET_NAME, "sdlog microSD I/O", 0);
+
+	struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg;
+
+	int poll_count = 0;
+	struct sdlog_sysvector sysvect;
+	memset(&sysvect, 0, sizeof(sysvect));
+
+	while (!thread_should_exit) {
+		
+		/* make sure threads are synchronized */
+		pthread_mutex_lock(&sysvector_mutex);
+
+		/* only wait if no data is available to process */
+		if (sdlog_logbuffer_is_empty(logbuf)) {
+			/* blocking wait for new data at this line */
+			pthread_cond_wait(&sysvector_cond, &sysvector_mutex);
+		}
+
+		/* only quickly load data, do heavy I/O a few lines down */
+		int ret = sdlog_logbuffer_read(logbuf, &sysvect);
+		/* continue */
+		pthread_mutex_unlock(&sysvector_mutex);
+
+		if (ret == OK) {
+			sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect));
+		}
+
+		if (poll_count % 100 == 0) {
+			fsync(sysvector_file);
+		}
+
+		poll_count++;
+	}
+
+	fsync(sysvector_file);
+
+	return OK;
+}
+
+pthread_t
+sysvector_write_start(struct sdlog_logbuffer *logbuf)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+
+	struct sched_param param;
+	/* low priority, as this is expensive disk I/O */
+	param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
+	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+	pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf);
+	return thread;
+
+	// XXX we have to destroy the attr at some point
+}
+
+
+int sdlog_thread_main(int argc, char *argv[])
+{
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+
+	if (mavlink_fd < 0) {
+		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
+	}
+
+	/* log every n'th value (skip three per default) */
+	int skip_value = 3;
+
+	/* work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+	int ch;
+
+	while ((ch = getopt(argc, argv, "s:r")) != EOF) {
+		switch (ch) {
+		case 's':
+			{
+			/* log only every n'th (gyro clocked) value */
+			unsigned s = strtoul(optarg, NULL, 10);
+
+			if (s < 1 || s > 250) {
+				errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
+			} else {
+				skip_value = s;
+			}
+			}
+			break;
+
+		case 'r':
+			/* log only on request, disable logging per default */
+			logging_enabled = false;
+			break;
+
+		case '?':
+			if (optopt == 'c') {
+				warnx("Option -%c requires an argument.\n", optopt);
+			} else if (isprint(optopt)) {
+				warnx("Unknown option `-%c'.\n", optopt);
+			} else {
+				warnx("Unknown option character `\\x%x'.\n", optopt);
+			}
+
+		default:
+			usage("unrecognized flag");
+			errx(1, "exiting.");
+		}
+	}
+
+	if (file_exist(mountpoint) != OK) {
+		errx(1, "logging mount point %s not present, exiting.", mountpoint);
+	}
+
+	char folder_path[64];
+
+	if (create_logfolder(folder_path))
+		errx(1, "unable to create logging folder, exiting.");
+
+	FILE *gpsfile;
+	FILE *blackbox_file;
+
+	/* string to hold the path to the sensorfile */
+	char path_buf[64] = "";
+
+	/* only print logging path, important to find log file later */
+	warnx("logging to directory %s\n", folder_path);
+
+	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
+	sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
+
+	if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
+		errx(1, "opening %s failed.\n", path_buf);
+	}
+
+	/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
+	sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
+
+	if (NULL == (gpsfile = fopen(path_buf, "w"))) {
+		errx(1, "opening %s failed.\n", path_buf);
+	}
+
+	int gpsfile_no = fileno(gpsfile);
+
+	/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
+	sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
+
+	if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
+		errx(1, "opening %s failed.\n", path_buf);
+	}
+
+	// XXX for fsync() calls
+	int blackbox_file_no = fileno(blackbox_file);
+
+	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
+	/* number of messages */
+	const ssize_t fdsc = 25;
+	/* Sanity check variable and index */
+	ssize_t fdsc_count = 0;
+	/* file descriptors to wait for */
+	struct pollfd fds[fdsc];
+
+
+	struct {
+		struct sensor_combined_s raw;
+		struct vehicle_attitude_s att;
+		struct vehicle_attitude_setpoint_s att_sp;
+		struct actuator_outputs_s act_outputs;
+		struct actuator_controls_s act_controls;
+		struct actuator_controls_effective_s act_controls_effective;
+		struct vehicle_command_s cmd;
+		struct vehicle_local_position_s local_pos;
+		struct vehicle_global_position_s global_pos;
+		struct vehicle_gps_position_s gps_pos;
+		struct vehicle_vicon_position_s vicon_pos;
+		struct optical_flow_s flow;
+		struct battery_status_s batt;
+		struct differential_pressure_s diff_pressure;
+	} buf;
+	memset(&buf, 0, sizeof(buf));
+
+	struct {
+		int cmd_sub;
+		int sensor_sub;
+		int att_sub;
+		int spa_sub;
+		int act_0_sub;
+		int controls_0_sub;
+		int controls_effective_0_sub;
+		int local_pos_sub;
+		int global_pos_sub;
+		int gps_pos_sub;
+		int vicon_pos_sub;
+		int flow_sub;
+		int batt_sub;
+		int diff_pressure_sub;
+	} subs;
+
+	/* --- MANAGEMENT - LOGGING COMMAND --- */
+	/* subscribe to ORB for vehicle command */
+	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
+	fds[fdsc_count].fd = subs.cmd_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- GPS POSITION --- */
+	/* subscribe to ORB for global position */
+	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	fds[fdsc_count].fd = subs.gps_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- SENSORS RAW VALUE --- */
+	/* subscribe to ORB for sensors raw */
+	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	fds[fdsc_count].fd = subs.sensor_sub;
+	/* do not rate limit, instead use skip counter (aliasing on rate limit) */
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ATTITUDE VALUE --- */
+	/* subscribe to ORB for attitude */
+	subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	fds[fdsc_count].fd = subs.att_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ATTITUDE SETPOINT VALUE --- */
+	/* subscribe to ORB for attitude setpoint */
+	/* struct already allocated */
+	subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	fds[fdsc_count].fd = subs.spa_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/** --- ACTUATOR OUTPUTS --- */
+	subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
+	fds[fdsc_count].fd = subs.act_0_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ACTUATOR CONTROL VALUE --- */
+	/* subscribe to ORB for actuator control */
+	subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	fds[fdsc_count].fd = subs.controls_0_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
+	/* subscribe to ORB for actuator control */
+	subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
+	fds[fdsc_count].fd = subs.controls_effective_0_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- LOCAL POSITION --- */
+	/* subscribe to ORB for local position */
+	subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+	fds[fdsc_count].fd = subs.local_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- GLOBAL POSITION --- */
+	/* subscribe to ORB for global position */
+	subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	fds[fdsc_count].fd = subs.global_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- VICON POSITION --- */
+	/* subscribe to ORB for vicon position */
+	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
+	fds[fdsc_count].fd = subs.vicon_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- FLOW measurements --- */
+	/* subscribe to ORB for flow measurements */
+	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
+	fds[fdsc_count].fd = subs.flow_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- BATTERY STATUS --- */
+	/* subscribe to ORB for flow measurements */
+	subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
+	fds[fdsc_count].fd = subs.batt_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- DIFFERENTIAL PRESSURE --- */
+	/* subscribe to ORB for flow measurements */
+	subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure));
+	fds[fdsc_count].fd = subs.diff_pressure_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* WARNING: If you get the error message below,
+	 * then the number of registered messages (fdsc)
+	 * differs from the number of messages in the above list.
+	 */
+	if (fdsc_count > fdsc) {
+		warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
+		fdsc_count = fdsc;
+	}
+
+	/*
+	 * set up poll to block for new data,
+	 * wait for a maximum of 1000 ms (1 second)
+	 */
+	// const int timeout = 1000;
+
+	thread_running = true;
+
+	/* initialize log buffer with a size of 10 */
+	sdlog_logbuffer_init(&lb, 10);
+
+	/* initialize thread synchronization */
+	pthread_mutex_init(&sysvector_mutex, NULL);
+  	pthread_cond_init(&sysvector_cond, NULL);
+
+	/* start logbuffer emptying thread */
+	pthread_t sysvector_pthread = sysvector_write_start(&lb);
+
+	starttime = hrt_absolute_time();
+
+	/* track skipping */
+	int skip_count = 0;
+
+	while (!thread_should_exit) {
+
+		/* only poll for commands, gps and sensor_combined */
+		int poll_ret = poll(fds, 3, 1000);
+
+		/* handle the poll result */
+		if (poll_ret == 0) {
+			/* XXX this means none of our providers is giving us data - might be an error? */
+		} else if (poll_ret < 0) {
+			/* XXX this is seriously bad - should be an emergency */
+		} else {
+
+			int ifds = 0;
+
+			/* --- VEHICLE COMMAND VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				/* copy command into local buffer */
+				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
+
+				/* always log to blackbox, even when logging disabled */
+				blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
+					buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
+					(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
+
+				handle_command(&buf.cmd);
+			}
+
+			/* --- VEHICLE GPS VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				/* copy gps position into local buffer */
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+
+				/* if logging disabled, continue */
+				if (logging_enabled) {
+
+				/* write KML line */
+				}
+			}
+
+			/* --- SENSORS RAW VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+
+				// /* copy sensors raw data into local buffer */
+				// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				// /* write out */
+				// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
+
+				/* always copy sensors raw data into local buffer, since poll flags won't clear else */
+				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
+				orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
+				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
+				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
+				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
+				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
+				orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
+				orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
+
+				/* if skipping is on or logging is disabled, ignore */
+				if (skip_count < skip_value || !logging_enabled) {
+					skip_count++;
+					/* do not log data */
+					continue;
+				} else {
+					/* log data, reset */
+					skip_count = 0;
+				}
+
+				struct sdlog_sysvector sysvect = {
+					.timestamp = buf.raw.timestamp,
+					.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
+					.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
+					.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
+					.baro = buf.raw.baro_pres_mbar,
+					.baro_alt = buf.raw.baro_alt_meter,
+					.baro_temp = buf.raw.baro_temp_celcius,
+					.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
+					.actuators = {
+						buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
+						buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
+					},
+					.vbat = buf.batt.voltage_v,
+					.bat_current = buf.batt.current_a,
+					.bat_discharged = buf.batt.discharged_mah,
+					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
+					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
+					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
+					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
+					.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
+					.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
+					.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
+					.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
+					.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
+					.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
+					.true_airspeed = buf.diff_pressure.true_airspeed_m_s
+				};
+
+				/* put into buffer for later IO */
+				pthread_mutex_lock(&sysvector_mutex);
+				sdlog_logbuffer_write(&lb, &sysvect);
+				/* signal the other thread new data, but not yet unlock */
+				if ((unsigned)lb.count > (lb.size / 2)) {
+					/* only request write if several packets can be written at once */
+					pthread_cond_signal(&sysvector_cond);
+				}
+				/* unlock, now the writer thread may run */
+				pthread_mutex_unlock(&sysvector_mutex);
+			}
+
+		}
+
+	}
+
+	print_sdlog_status();
+
+	/* wake up write thread one last time */
+	pthread_mutex_lock(&sysvector_mutex);
+	pthread_cond_signal(&sysvector_cond);
+	/* unlock, now the writer thread may return */
+	pthread_mutex_unlock(&sysvector_mutex);
+
+	/* wait for write thread to return */
+	(void)pthread_join(sysvector_pthread, NULL);
+
+  	pthread_mutex_destroy(&sysvector_mutex);
+  	pthread_cond_destroy(&sysvector_cond);
+
+	warnx("exiting.\n\n");
+
+	/* finish KML file */
+	// XXX
+	fclose(gpsfile);
+	fclose(blackbox_file);
+
+	thread_running = false;
+
+	return 0;
+}
+
+void print_sdlog_status()
+{
+	unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
+	float mebibytes = bytes / 1024.0f / 1024.0f;
+	float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
+
+	warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
+}
+
+/**
+ * @return 0 if file exists
+ */
+int file_exist(const char *filename)
+{
+	struct stat buffer;
+	return stat(filename, &buffer);
+}
+
+int file_copy(const char *file_old, const char *file_new)
+{
+	FILE *source, *target;
+	source = fopen(file_old, "r");
+	int ret = 0;
+
+	if (source == NULL) {
+		warnx("failed opening input file to copy");
+		return 1;
+	}
+
+	target = fopen(file_new, "w");
+
+	if (target == NULL) {
+		fclose(source);
+		warnx("failed to open output file to copy");
+		return 1;
+	}
+
+	char buf[128];
+	int nread;
+
+	while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
+		int ret = fwrite(buf, 1, nread, target);
+
+		if (ret <= 0) {
+			warnx("error writing file");
+			ret = 1;
+			break;
+		}
+	}
+
+	fsync(fileno(target));
+
+	fclose(source);
+	fclose(target);
+
+	return ret;
+}
+
+void handle_command(struct vehicle_command_s *cmd)
+{
+	/* result of the command */
+	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
+
+	/* request to set different system mode */
+	switch (cmd->command) {
+
+	case VEHICLE_CMD_PREFLIGHT_STORAGE:
+
+		if (((int)(cmd->param3)) == 1)	{
+
+			/* enable logging */
+			mavlink_log_info(mavlink_fd, "[log] file:");
+			mavlink_log_info(mavlink_fd, "logdir");
+			logging_enabled = true;
+		}
+		if (((int)(cmd->param3)) == 0)	{
+
+			/* disable logging */
+			mavlink_log_info(mavlink_fd, "[log] stopped.");
+			logging_enabled = false;
+		}
+		break;
+
+	default:
+		/* silently ignore */
+		break;
+	}
+
+}
diff --git a/src/modules/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c
new file mode 100644
index 000000000..d7c8a4759
--- /dev/null
+++ b/src/modules/sdlog/sdlog_ringbuffer.c
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog_log.c
+ * MAVLink text logging.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "sdlog_ringbuffer.h"
+
+void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size)
+{
+	lb->size  = size;
+	lb->start = 0;
+	lb->count = 0;
+	lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector));
+}
+
+int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb)
+{
+	return lb->count == (int)lb->size;
+}
+
+int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb)
+{
+	return lb->count == 0;
+}
+
+
+// XXX make these functions thread-safe
+void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem)
+{
+	int end = (lb->start + lb->count) % lb->size;
+	memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector));
+
+	if (sdlog_logbuffer_is_full(lb)) {
+		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
+
+	} else {
+		++lb->count;
+	}
+}
+
+int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem)
+{
+	if (!sdlog_logbuffer_is_empty(lb)) {
+		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector));
+		lb->start = (lb->start + 1) % lb->size;
+		--lb->count;
+		return 0;
+
+	} else {
+		return 1;
+	}
+}
diff --git a/src/modules/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h
new file mode 100644
index 000000000..b65916459
--- /dev/null
+++ b/src/modules/sdlog/sdlog_ringbuffer.h
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog_ringbuffer.h
+ * microSD logging
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef SDLOG_RINGBUFFER_H_
+#define SDLOG_RINGBUFFER_H_
+
+#pragma pack(push, 1)
+struct sdlog_sysvector {
+	uint64_t timestamp;		/**<  time [us] */
+	float gyro[3];			/**< [rad/s] */
+	float accel[3];			/**< [m/s^2] */
+	float mag[3];			/**< [gauss] */
+	float baro;			/**< pressure [millibar] */
+	float baro_alt;			/**< altitude above MSL [meter] */
+	float baro_temp;		/**< [degree celcius] */
+	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
+	float vbat;			/**< battery voltage in [volt] */
+	float bat_current;		/**< battery discharge current */
+	float bat_discharged;		/**< discharged energy in mAh */
+	float adc[4];			/**< ADC ports [volt] */
+	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
+	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
+	float attitude[3];		/**< roll, pitch, yaw [rad] */
+	float rotMatrix[9];		/**< unitvectors */
+	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
+	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
+	float diff_pressure;		/**< differential pressure */
+	float ind_airspeed;		/**< indicated airspeed */
+	float true_airspeed;		/**< true airspeed */
+};
+#pragma pack(pop)
+
+struct sdlog_logbuffer {
+	unsigned int start;
+	// unsigned int end;
+	unsigned int size;
+	int count;
+	struct sdlog_sysvector *elems;
+};
+
+void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
+
+int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
+
+int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
+
+void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
+
+int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
+
+#endif