1 files changed, 0 insertions, 40 deletions
diff --git a/apps/multirotor_position_control/pid.h b/apps/multirotor_position_control/pid.h
deleted file mode 100644
index a721c839c..000000000
--- a/apps/multirotor_position_control/pid.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * pid.h
- *
- *  Created on: May 29, 2012
- *      Author: thomasgubler
- */
-
-#ifndef PID_H_
-#define PID_H_
-
-#include <stdint.h>
-
-/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
- * val_dot in pid_calculate() will be ignored */
-#define PID_MODE_DERIVATIV_CALC	0
-/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
-#define PID_MODE_DERIVATIV_SET	1
-
-typedef struct {
-	float kp;
-	float ki;
-	float kd;
-	float intmax;
-	float sp;
-	float integral;
-	float error_previous;
-	uint8_t mode;
-	uint8_t plot_i;
-	uint8_t count;
-	uint8_t saturated;
-} PID_t;
-
-void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
-void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
-//void pid_set(PID_t *pid, float sp);
-float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
-
-
-
-#endif /* PID_H_ */