1 files changed, 0 insertions, 156 deletions
diff --git a/apps/px4/attitude_estimator_bm/matrix.h b/apps/px4/attitude_estimator_bm/matrix.h
deleted file mode 100644
index 613a2d081..000000000
--- a/apps/px4/attitude_estimator_bm/matrix.h
+++ /dev/null
@@ -1,156 +0,0 @@
-/*
- * matrix.h
- *
- *  Created on: 18.11.2010
- *      Author: Laurens Mackay
- */
-
-#ifndef MATRIX_H_
-#define MATRIX_H_
-
-typedef float m_elem;
-
-typedef struct {
-	int rows;
-	int cols;
-	m_elem *a;
-} matrix_t;
-
-typedef struct {
-	float x;
-	float y;
-	float z;
-} float_vect3;
-
-#define M(m,i,j) m.a[m.cols*i+j]
-
-///*  This is the datatype used for the math and non-type specific ops.  */
-//
-//matrix_t matrix_create(const int rows, const int cols, m_elem * a);
-///*  matrix C = matrix A + matrix B , both of size m x n   */
-//void matrix_add(const matrix_t a, const matrix_t b, matrix_t c);
-//
-///*  matrix C = matrix A - matrix B , all of size m x n  */
-//void matrix_sub(const matrix_t a, const matrix_t b, matrix_t c);
-//
-///*  matrix C = matrix A x matrix B , A(a_rows x a_cols), B(a_cols x b_cols) */
-//void matrix_mult(const matrix_t a, const matrix_t b, matrix_t c);
-//
-//void matrix_mult_scalar(const float f, const matrix_t a, matrix_t c);
-//
-//void matrix_mult_element(const matrix_t a, const matrix_t b, matrix_t c);
-//
-///* matrix C = A*B'*/
-//void matrix_mult_trans(const matrix_t a, const matrix_t b, matrix_t c);
-
-
-static inline matrix_t matrix_create(const int rows, const int cols, m_elem *a)
-{
-	matrix_t ret;
-	ret.rows = rows;
-	ret.cols = cols;
-	ret.a = a;
-	return ret;
-}
-
-static inline void matrix_add(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols || b.rows != c.rows || b.cols
-	    != c.cols) {
-		//debug_message_buffer("matrix_add: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = M(a, i, j) + M(b, i, j);
-		}
-
-	}
-}
-
-static inline void matrix_sub(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols || b.rows != c.rows || b.cols
-	    != c.cols) {
-		//debug_message_buffer("matrix_sub: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = M(a, i, j) - M(b, i, j);
-		}
-
-	}
-}
-
-static inline void matrix_mult(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || b.cols != c.cols || a.cols != b.rows) {
-		//debug_message_buffer("matrix_mult: Dimension mismatch");
-	}
-
-	for (int i = 0; i < a.rows; i++) {
-		for (int j = 0; j < b.cols; j++) {
-			M(c, i, j) = 0;
-
-			for (int k = 0; k < a.cols; k++) {
-				M(c, i, j) += M(a, i, k) * M(b, k, j);
-			}
-		}
-
-	}
-}
-
-static inline void matrix_mult_trans(const matrix_t a, const matrix_t b, matrix_t c)
-{
-
-	if (a.rows != c.rows || b.rows != c.cols || a.cols != b.cols) {
-		//debug_message_buffer("matrix_mult: Dimension mismatch");
-	}
-
-	for (int i = 0; i < a.rows; i++) {
-		for (int j = 0; j < b.cols; j++) {
-			M(c, i, j) = 0;
-
-			for (int k = 0; k < a.cols; k++) {
-				M(c, i, j) += M(a, i, k) * M(b, j, k);
-			}
-		}
-
-	}
-
-}
-
-static inline void matrix_mult_scalar(const float f, const matrix_t a, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols) {
-		//debug_message_buffer("matrix_mult_scalar: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = f * M(a, i, j);
-		}
-
-	}
-}
-
-
-static inline void matrix_mult_element(const matrix_t a, const matrix_t b, matrix_t c)
-{
-	if (a.rows != c.rows || a.cols != c.cols || b.rows != c.rows || b.cols
-	    != c.cols) {
-		//debug_message_buffer("matrix_mult_element: Dimension mismatch");
-	}
-
-	for (int i = 0; i < c.rows; i++) {
-		for (int j = 0; j < c.cols; j++) {
-			M(c, i, j) = M(a, i, j) * M(b, i, j);
-		}
-
-	}
-}
-
-
-
-#endif /* MATRIX_H_ */