1 files changed, 0 insertions, 154 deletions
diff --git a/mavlink/share/pyshared/pymavlink/mavextra.py b/mavlink/share/pyshared/pymavlink/mavextra.py
deleted file mode 100644
index 5395f6036..000000000
--- a/mavlink/share/pyshared/pymavlink/mavextra.py
+++ /dev/null
@@ -1,154 +0,0 @@
-#!/usr/bin/env python
-'''
-useful extra functions for use by mavlink clients
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-from math import *
-
-
-def kmh(mps):
-    '''convert m/s to Km/h'''
-    return mps*3.6
-
-def altitude(press_abs, ground_press=955.0, ground_temp=30):
-    '''calculate barometric altitude'''
-    return log(ground_press/press_abs)*(ground_temp+273.15)*29271.267*0.001
-
-
-def mag_heading(RAW_IMU, ATTITUDE, declination=0, SENSOR_OFFSETS=None, ofs=None):
-    '''calculate heading from raw magnetometer'''
-    mag_x = RAW_IMU.xmag
-    mag_y = RAW_IMU.ymag
-    mag_z = RAW_IMU.zmag
-    if SENSOR_OFFSETS is not None and ofs is not None:
-        mag_x += ofs[0] - SENSOR_OFFSETS.mag_ofs_x
-        mag_y += ofs[1] - SENSOR_OFFSETS.mag_ofs_y
-        mag_z += ofs[2] - SENSOR_OFFSETS.mag_ofs_z
-
-    headX = mag_x*cos(ATTITUDE.pitch) + mag_y*sin(ATTITUDE.roll)*sin(ATTITUDE.pitch) + mag_z*cos(ATTITUDE.roll)*sin(ATTITUDE.pitch)
-    headY = mag_y*cos(ATTITUDE.roll) - mag_z*sin(ATTITUDE.roll)
-    heading = degrees(atan2(-headY,headX)) + declination
-    if heading < 0:
-        heading += 360
-    return heading
-
-def mag_field(RAW_IMU, SENSOR_OFFSETS=None, ofs=None):
-    '''calculate magnetic field strength from raw magnetometer'''
-    mag_x = RAW_IMU.xmag
-    mag_y = RAW_IMU.ymag
-    mag_z = RAW_IMU.zmag
-    if SENSOR_OFFSETS is not None and ofs is not None:
-        mag_x += ofs[0] - SENSOR_OFFSETS.mag_ofs_x
-        mag_y += ofs[1] - SENSOR_OFFSETS.mag_ofs_y
-        mag_z += ofs[2] - SENSOR_OFFSETS.mag_ofs_z
-    return sqrt(mag_x**2 + mag_y**2 + mag_z**2)
-
-def angle_diff(angle1, angle2):
-    '''show the difference between two angles in degrees'''
-    ret = angle1 - angle2
-    if ret > 180:
-        ret -= 360;
-    if ret < -180:
-        ret += 360
-    return ret
-
-
-lowpass_data = {}
-
-def lowpass(var, key, factor):
-    '''a simple lowpass filter'''
-    global lowpass_data
-    if not key in lowpass_data:
-        lowpass_data[key] = var
-    else:
-        lowpass_data[key] = factor*lowpass_data[key] + (1.0 - factor)*var
-    return lowpass_data[key]
-
-last_delta = {}
-
-def delta(var, key):
-    '''calculate slope'''
-    global last_delta
-    dv = 0
-    if key in last_delta:
-        dv = var - last_delta[key]
-    last_delta[key] = var
-    return dv
-
-def delta_angle(var, key):
-    '''calculate slope of an angle'''
-    global last_delta
-    dv = 0
-    if key in last_delta:
-        dv = var - last_delta[key]
-    last_delta[key] = var
-    if dv > 180:
-        dv -= 360
-    if dv < -180:
-        dv += 360
-    return dv
-
-def roll_estimate(RAW_IMU,smooth=0.7):
-    '''estimate roll from accelerometer'''
-    rx = lowpass(RAW_IMU.xacc,'rx',smooth)
-    ry = lowpass(RAW_IMU.yacc,'ry',smooth)
-    rz = lowpass(RAW_IMU.zacc,'rz',smooth)
-    return degrees(-asin(ry/sqrt(rx**2+ry**2+rz**2)))
-
-def pitch_estimate(RAW_IMU, smooth=0.7):
-    '''estimate pitch from accelerometer'''
-    rx = lowpass(RAW_IMU.xacc,'rx',smooth)
-    ry = lowpass(RAW_IMU.yacc,'ry',smooth)
-    rz = lowpass(RAW_IMU.zacc,'rz',smooth)
-    return degrees(asin(rx/sqrt(rx**2+ry**2+rz**2)))
-
-def gravity(RAW_IMU, SENSOR_OFFSETS=None, ofs=None, smooth=0.7):
-    '''estimate pitch from accelerometer'''
-    rx = RAW_IMU.xacc
-    ry = RAW_IMU.yacc
-    rz = RAW_IMU.zacc+45
-    if SENSOR_OFFSETS is not None and ofs is not None:
-        rx += ofs[0] - SENSOR_OFFSETS.accel_cal_x
-        ry += ofs[1] - SENSOR_OFFSETS.accel_cal_y
-        rz += ofs[2] - SENSOR_OFFSETS.accel_cal_z
-    return lowpass(sqrt(rx**2+ry**2+rz**2)*0.01,'_gravity',smooth)
-
-
-
-def pitch_sim(SIMSTATE, GPS_RAW):
-    '''estimate pitch from SIMSTATE accels'''
-    xacc = SIMSTATE.xacc - lowpass(delta(GPS_RAW.v,"v")*6.6, "v", 0.9)
-    zacc = SIMSTATE.zacc
-    zacc += SIMSTATE.ygyro * GPS_RAW.v;
-    if xacc/zacc >= 1:
-        return 0
-    if xacc/zacc <= -1:
-        return -0
-    return degrees(-asin(xacc/zacc))
-
-def distance_two(GPS_RAW1, GPS_RAW2):
-    '''distance between two points'''
-    lat1 = radians(GPS_RAW1.lat)
-    lat2 = radians(GPS_RAW2.lat)
-    lon1 = radians(GPS_RAW1.lon)
-    lon2 = radians(GPS_RAW2.lon)
-    dLat = lat2 - lat1
-    dLon = lon2 - lon1
-
-    a = sin(0.5*dLat) * sin(0.5*dLat) + sin(0.5*dLon) * sin(0.5*dLon) * cos(lat1) * cos(lat2)
-    c = 2.0 * atan2(sqrt(a), sqrt(1.0-a))
-    return 6371 * 1000 * c
-
-
-first_fix = None
-
-def distance_home(GPS_RAW):
-    '''distance from first fix point'''
-    global first_fix
-    if first_fix == None or first_fix.fix_type < 2:
-        first_fix = GPS_RAW
-        return 0
-    return distance_two(GPS_RAW, first_fix)