From f2094b9a1f9ea492d0a3c4c294a756332e83404d Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 4 May 2014 16:05:15 +0200
Subject: Unused deprecated modules removed: att_pos_estimator_ekf,
 fixedwing_att_control, fixedwing_pos_control, position_estimator,
 position_estimator_mc, sdlog

---
 .../positionKalmanFilter1D_dT.m                    | 26 ----------------------
 1 file changed, 26 deletions(-)
 delete mode 100755 src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m

(limited to 'src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m')

diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
deleted file mode 100755
index f94cce1fb..000000000
--- a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
+++ /dev/null
@@ -1,26 +0,0 @@
-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
-
-- 
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