diff --git a/quad/src/quad_app/PID.c b/quad/src/quad_app/PID.c
deleted file mode 100644
index 185e7b8dc6161616321bd8fae82f5dd709f94174..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/PID.c
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
- * PID.c
- *
- * Created on: Nov 10, 2014
- * Author: ucart
- */
-
-#include "PID.h"
-#include <math.h>
-#include <float.h>
-
-// The generic PID diagram. This function takes in pid parameters (PID_t * pid) and calculates the output "pid_correction"
-// part based on those parameters.
-//
-// + --- error ------------------ P + --- ----------------------------
-// setpoint ---> / sum \ --------->| Kp * error |--------------->/ sum \ -------->| output: "pid_correction" |
-// \ / | ------------------ \ / ----------------------------
-// --- | --- ||
-// - ^ | + ^ ^ + ||
-// | | ------------------------------- | | ------- \/------------
-// | |----->| Ki * accumulated error * dt |----+ | | |
-// | | ------------------------------- I | | SYSTEM |
-// | | | | |
-// | | | --------||------------
-// | | | ||
-// | | ---------------------------------- | ||
-// | |----->| Kd * (error - last error) / dt |----+ ||
-// | ---------------------------------- D ||
-// | ||
-// | -----------\/-----------
-// |____________________________________________________________| Sensor measurements: |
-// | "current point" |
-// ------------------------
-//
-PID_values pid_computation(PID_t *pid) {
-
- float P = 0.0, I = 0.0, D = 0.0;
-
- // calculate the current error
- float error = pid->setpoint - pid->current_point;
-
- // Accumulate the error (if Ki is less than epsilon, rougly 0,
- // then reset the accumulated error for safety)
- if (fabs(pid->Ki) <= FLT_EPSILON) {
- pid->acc_error = 0;
- } else {
- pid->acc_error += error;
- }
-
- float change_in_error = error - pid->prev_error;
-
- // Compute each term's contribution
- P = pid->Kp * error;
- I = pid->Ki * pid->acc_error * pid->dt;
- D = pid->Kd * (change_in_error / pid->dt);
-
- PID_values ret = {P, I, D, error, change_in_error, P + I + D};
-
- pid->prev_error = error; // Store the current error into the PID_t
-
- pid->pid_correction = P + I + D; // Store the computed correction
- return ret;
-}
diff --git a/quad/src/quad_app/README.txt b/quad/src/quad_app/README.txt
deleted file mode 100644
index 0e065fbfb65ff25e0844aa10225af4b34d0b07ab..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/README.txt
+++ /dev/null
@@ -1 +0,0 @@
-This application is the PID implementation of the modular control loop. This is the same implementation as the existing quad controller. The mixer in this application needs to be changed to be correct according to common implementation.
diff --git a/quad/src/quad_app/control_algorithm.h b/quad/src/quad_app/control_algorithm.h
index 8e8a15b79b705fe025c57965b45f8f975eadfb1b..92c0feeac5a4121319b8fbf1e28b0b477cb8a3c5 100644
--- a/quad/src/quad_app/control_algorithm.h
+++ b/quad/src/quad_app/control_algorithm.h
@@ -12,7 +12,6 @@
#include "log_data.h"
#include "sensor_processing.h"
-#include "quadposition.h"
#include "type_def.h"
/**
diff --git a/quad/src/quad_app/controllers.c b/quad/src/quad_app/controllers.c
deleted file mode 100644
index 14abde800f5ea36af1154894c29fdf18e680067f..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/controllers.c
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- * controllers.c
- *
- * Created on: Oct 11, 2014
- * Author: ucart
- */
-
-/**
- * Lots of useful information in controllers.h, look in there first
- */
-#include "controllers.h"
-#include "quadposition.h"
-#include "util.h"
-#include "stdio.h"
-#include <math.h>
-
-// 0 was -6600
-//int motor0_bias = -4500, motor1_bias = 100, motor2_bias = 5300, motor3_bias = 10300;
-int motor0_bias = -9900, motor1_bias = -200, motor2_bias = -10200, motor3_bias = 250;
-
-/**
- * Takes the raw signal inputs from the receiver and filters it so the
- * quadcopter doesn't flip or do something extreme
- */
-void filter_PWMs(int* mixer) {
-
-}
-
-/**
- * Converts PWM signals into 4 channel pitch, roll, yaw, throttle
- */
-// javey: unused
-void PWMS_to_Aero(int* PWMs, int* aero) {
- /**
- * Reference used to derive equations
- */
- // pwm0 = throttle_base - pitch_base + yaw_base;
- // pwm1 = throttle_base + roll_base - yaw_base;
- // pwm2 = throttle_base - roll_base - yaw_base;
- // pwm3 = throttle_base + pitch_base + yaw_base;
-
- aero[THROTTLE] = (PWMs[0] + PWMs[1] + PWMs[2] + PWMs[3]) / 4;
- aero[ROLL] = (PWMs[1] - PWMs[2]) / 2;
- aero[PITCH] = (PWMs[3] - PWMs[0]) / 2;
- aero[YAW] = (PWMs[3] + PWMs[0] - PWMs[1] - PWMs[2]) / 4;
-}
-
-
diff --git a/quad/src/quad_app/controllers.h b/quad/src/quad_app/controllers.h
index 40c7832601fd0509a002cb2f5c3c29fa80c304ff..2b6f38cc5fc3c87db0eddea0c199868049484df9 100644
--- a/quad/src/quad_app/controllers.h
+++ b/quad/src/quad_app/controllers.h
@@ -8,7 +8,6 @@
#define _CONTROLLERS_H
#include "util.h"
-#include "quadposition.h"
/**
*
diff --git a/quad/src/quad_app/gam.h b/quad/src/quad_app/gam.h
deleted file mode 100644
index 0f4803e8d2a2cb50e6733acb278529ebb658f636..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/gam.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#ifndef _GAM_H
-#define _GAM_H
-
-//Gyro, accelerometer, and magnetometer data structure
-//Used for reading an instance of the sensor data
-typedef struct {
-
- // GYRO
- //Xint16 raw_gyro_x, raw_gyro_y, raw_gyro_z;
-
- float gyro_xVel_p; // In degrees per second
- float gyro_yVel_q;
- float gyro_zVel_r;
-
- // ACCELEROMETER
- //Xint16 raw_accel_x, raw_accel_y, raw_accel_z;
-
- float accel_x; //In g
- float accel_y;
- float accel_z;
-
- float accel_roll;
- float accel_pitch;
-
-
- // MAG
- //Xint16 raw_mag_x, raw_mag_y, raw_mag_z;
-
- float heading; // In degrees
-
- float mag_x; //Magnetic north: ~50 uT
- float mag_y;
- float mag_z;
-
-
-
-}gam_t;
-#endif /* _GAM_H */
diff --git a/quad/src/quad_app/new_PID.h b/quad/src/quad_app/new_PID.h
deleted file mode 100644
index fae2778ec8b422875e1d88d6ae98a70dee00a8e3..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/new_PID.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * PID.h
- *
- * Created on: Nov 10, 2014
- * Author: ucart
- */
-
-#ifndef PID_H_
-#define PID_H_
-
-#include "type_def.h"
-
-// Yaw constants
-
-// when using units of radians
-#define YAW_ANGULAR_VELOCITY_KP 200.0 * 2292.0f
-#define YAW_ANGULAR_VELOCITY_KI 0.0f
-#define YAW_ANGULAR_VELOCITY_KD 0.0f
-#define YAW_ANGLE_KP 2.6f
-#define YAW_ANGLE_KI 0.0f
-#define YAW_ANGLE_KD 0.0f
-
-// when using units of radians
-#define ROLL_ANGULAR_VELOCITY_KP 100.0 * 46.0f
-#define ROLL_ANGULAR_VELOCITY_KI 0.0f
-#define ROLL_ANGULAR_VELOCITY_KD 100.0 * 5.5f
-#define ROLL_ANGLE_KP 15.0f
-#define ROLL_ANGLE_KI 0.0f
-#define ROLL_ANGLE_KD 0.2f
-#define YPOS_KP 0.08f
-#define YPOS_KI 0.01f
-#define YPOS_KD 0.1f
-
-
-//Pitch constants
-
-// when using units of radians
-#define PITCH_ANGULAR_VELOCITY_KP 100.0 * 46.0f
-#define PITCH_ANGULAR_VELOCITY_KI 0.0f
-#define PITCH_ANGULAR_VELOCITY_KD 100.0 * 5.5f
-#define PITCH_ANGLE_KP 15.0f
-#define PITCH_ANGLE_KI 0.0f
-#define PITCH_ANGLE_KD 0.2f
-#define XPOS_KP 0.08f
-#define XPOS_KI 0.01f
-#define XPOS_KD 0.1f
-
-
-//Throttle constants
-#define ALT_ZPOS_KP -9804.0f
-#define ALT_ZPOS_KI -817.0f
-#define ALT_ZPOS_KD -7353.0f
-
-// Computes control error and correction
-PID_values pid_computation(PID_t *pid);
-
-#endif /* PID_H_ */
diff --git a/quad/src/quad_app/new_log_data.c b/quad/src/quad_app/new_log_data.c
deleted file mode 100644
index 7b2b758f2722673336296c4a3d3f7525b8d4de91..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/new_log_data.c
+++ /dev/null
@@ -1,225 +0,0 @@
-/*
- * log_data.c
- *
- * Created on: Feb 20, 2016
- * Author: ucart
- */
-
-/*
- #include "log_data.h"
-
-// Current index of the log array
-int arrayIndex = 0;
-// Size of the array
-int arraySize = LOG_STARTING_SIZE;
-int resized = 0;
-
-// The number of times we resized the array
-int resizeCount = 0;
-
-// Pointer to point to the array with all the logging information
-// for now its not dynamic
-log_t logArray[LOG_STARTING_SIZE * 3];// up to 60 seconds of log
-
-int log_data(log_t* log_struct)
-{
- updateLog(*log_struct);
- return 0;
-}
-
-*
- * Fills up an xbox hueg amount of memory with log data
-
-void updateLog(log_t log_struct){
- // If the first iteration, allocate enough memory for "arraySize" elements of logging
-// if(logArray == NULL){
-// // size in memory is 1,720,320 bytes (1.64 megabytes) because logging struct is 420 bytes each
-// // up to 20 seconds of log before resizing
-// logArray = malloc(LOG_STARTING_SIZE * sizeof(log_t));
-// uart0_sendStr("initialized log array.\n");
-// sleep(1);
-// }
-
- // semi dynamic log
-// if((arrayIndex >= arraySize - 1) && (!resized)){
-// realloc(logArray, LOG_STARTING_SIZE * 3 * sizeof(log_t)); // up to 60 seconds of log
-// resized = 1;
-// arraySize = LOG_STARTING_SIZE * 3;
-// uart0_sendStr("resized log array.\n");
-// sleep(1);
-// }
-
- if(arrayIndex >= arraySize - 1)
- {
- return;
- }
-
- // Add log to the array
- logArray[arrayIndex++] = log_struct;
-
- // If the index is too big, reallocate memory to double the size as before
-// if(arrayIndex == arraySize){
-// arraySize *= 2;
-// logArray = (log_t *) realloc(logArray, arraySize * sizeof(log_t));
-// ++resizeCount;
-// }
-// else if(arrayIndex > arraySize){
-// // Something fishy has occured
-// xil_printf("Array index is out of bounds. This shouldn't happen but somehow you did the impossible\n\r");
-// }
-}
-
-
-*
- * Prints all the log information.
- *
- * TODO: This should probably be transmitting in binary instead of ascii
-
-
-void printLogging(){
- int i, numBytes;
- char buf[2304] = {};
- char comments[256] = {};
- char header[1024] = {};
- char units [1024] = {};
-
- char tempLog[4096*2] = {};
-
- sprintf(comments, "# MicroCART On-board Quad Log\r\n# Sample size: %d\r\n", arrayIndex);
- sprintf(header, "%%Time\t" "LoopPeriod\t"
-
- //current points (measurements)
- "X_Current_Position\t" "Y_Current_Position\t" "Z_Current_Position\t"
- "Cam_Meas_Roll\tCam_Meas_Pitch\tCam_Meas_Yaw\t"
- "Quad_Meas_Roll\tQuad_Meas_Pitch\t"
- "roll_velocity\tpitch_velocity\tyaw_velocity\t"
-
- //setpoints
- "X_setpoint\t" "Y_setpoint\t" "Z_setpoint\t"
- "Roll_setpoint\tPitch_setpoint\tYaw_setpoint\t"
- "Roll_vel_setpoint\tPitch_vel_setpoint\tYaw_vel_setpoint\t"
-
- //corrections
- "PID_x\t"
- "PID_y\t"
- "PID_z\t"
- "PID_roll\t"
- "PID_pitch\t"
- "PID_yaw\t"
- "PID_roll_vel\t"
- "PID_pitch_vel\t"
- "PID_yaw_vel\t"
-
- //trims
- "Roll_trim\tPitch_trim\tYaw_trim\tThrottle_trim\t"
-
- //motor commands
- "Motor_0\tMotor_1\tMotor_2\tMotor_3\n"
-
- );
-
-
- sprintf(units, "&sec\tsec\t"
-
- //current points
- "meters\tmeters\tmeters\t"
- "radians\tradians\tradians\t"
- "radians\tradians\t"
- "radians//sec\tradians//sec\tradians//sec\t"
-
- //setpoints
- "meters\tmeters\tmeters\t"
- "radians\tradians\tradians\t"
- "radians//sec\tradians//sec\tradians//sec\t"
-
- //corrections
- "radians\tradians\tradians\t"
- "radians//sec\tradians//sec\tradians//sec\t"
- "none\tnone\tnone\t"
-
- //trims
- "none\tnone\tnone\tnone\t"
-
- //motors
- "none\tnone\tnone\tnone\n"
-
- );
-
- strcat(buf,comments);
- strcat(buf,header);
- strcat(buf,units);
-
-
- numBytes = logData(buf, tempLog);
- uart0_sendBytes(tempLog, strlen(tempLog));
- usleep(100000);
-
- ***********************
- print & send log data
- for(i = 0; i < arrayIndex; i++){
- char* logLine = format(logArray[i]);
- numBytes = logData(logLine, tempLog);
- uart0_sendBytes(tempLog, numBytes);
- usleep(10000);
- //free(logLine);
- //break;
- }
-}
-
-
-char* format(log_t log){
- char *retString = malloc(4096*2);
-
- sprintf(retString, "%.3f\t%.4f\t" //Time and TimeSlice
-
- // current points
- "%.3f\t%.3f\t%.3f\t"
- "%.3f\t%.3f\t%.3f\t"
- "%.3f\t%.3f\t"
- "%.3f\t%.3f\t%.3f\t"
-
- //setpoints
- "%.3f\t%.3f\t%.3f\t"
- "%.3f\t%.3f\t%.3f\t"
- "%.3f\t%.3f\t%.3f\t"
-
- //corrections
- "%.3f\t%.3f\t%.3f\t"
- "%.3f\t%.3f\t%.3f\t"
- "%.3f\t%.3f\t%.3f\t"
-
- //trims
- "%d\t%d\t%d\t%d\t"
-
- //motors
- "%d\t%d\t%d\t%d\n"
-
- ,log.time_stamp, log.time_slice,
-
- // current points
- log.local_x_PID.current_point,log.local_y_PID.current_point, log.altitude_PID.current_point,
- log.currentQuadPosition.roll, log.currentQuadPosition.pitch, log.currentQuadPosition.yaw,
- log.roll_angle_filtered, log.pitch_angle_filtered,
- log.phi_dot, log.theta_dot, log.psi_dot,
-
- //setpoints
- log.local_x_PID.setpoint, log.local_y_PID.setpoint, log.altitude_PID.setpoint,
- log.angle_roll_PID.setpoint, log.angle_pitch_PID.setpoint, log.angle_yaw_PID.setpoint,
- log.ang_vel_roll_PID.setpoint, log.ang_vel_pitch_PID.setpoint, log.ang_vel_pitch_PID.setpoint,
-
- //corrections
- log.local_x_PID_values.pid_correction, log.local_y_PID_values.pid_correction, log.altitude_PID_values.pid_correction,
- log.angle_roll_PID_values.pid_correction, log.angle_pitch_PID_values.pid_correction, log.angle_yaw_PID_values.pid_correction,
- log.ang_vel_roll_PID_values.pid_correction, log.ang_vel_pitch_PID_values.pid_correction, log.ang_vel_yaw_PID_values.pid_correction,
-
- //trims
- log.trims.roll, log.trims.pitch, log.trims.yaw, log.trims.throttle,
-
- //motors
- log.motors[0], log.motors[1], log.motors[2], log.motors[3]
- );
-
-
- return retString;
-}
-*/
diff --git a/quad/src/quad_app/new_log_data.h b/quad/src/quad_app/new_log_data.h
deleted file mode 100644
index 13e713a9ecd1ea71fd799de4860d36808bc2f856..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/new_log_data.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * log_data.h
- *
- * Created on: Feb 20, 2016
- * Author: ucart
- */
-
-#ifndef LOG_DATA_H_
-#define LOG_DATA_H_
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "PID.h"
-#include "type_def.h"
-#include "sleep.h"
-#include "communication.h"
-
-#define LOG_STARTING_SIZE 4096 //262144 // 2^18 32768 2^15
-
-
-/**
- * @brief
- * Logs the data obtained throughout the controller loop.
- *
- * @param log_struct
- * structure of the data to be logged
- *
- * @return
- * error message
- *
- */
- int log_data(log_t* log_struct);
-
- /**
- * Fills up an xbox hueg amount of memory with log data
- */
- void updateLog(log_t log_struct);
-
- /**
- * Prints all the log information.
- */
- void printLogging();
-
- char* format(log_t log);
-
-#endif /* LOG_DATA_H_ */
diff --git a/quad/src/quad_app/old_log_data.h b/quad/src/quad_app/old_log_data.h
deleted file mode 100644
index 13e713a9ecd1ea71fd799de4860d36808bc2f856..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/old_log_data.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * log_data.h
- *
- * Created on: Feb 20, 2016
- * Author: ucart
- */
-
-#ifndef LOG_DATA_H_
-#define LOG_DATA_H_
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "PID.h"
-#include "type_def.h"
-#include "sleep.h"
-#include "communication.h"
-
-#define LOG_STARTING_SIZE 4096 //262144 // 2^18 32768 2^15
-
-
-/**
- * @brief
- * Logs the data obtained throughout the controller loop.
- *
- * @param log_struct
- * structure of the data to be logged
- *
- * @return
- * error message
- *
- */
- int log_data(log_t* log_struct);
-
- /**
- * Fills up an xbox hueg amount of memory with log data
- */
- void updateLog(log_t log_struct);
-
- /**
- * Prints all the log information.
- */
- void printLogging();
-
- char* format(log_t log);
-
-#endif /* LOG_DATA_H_ */
diff --git a/quad/src/quad_app/packet_processing.c b/quad/src/quad_app/packet_processing.c
deleted file mode 100644
index 8652c92335a2c778569e6e9e5a98591e155ba626..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/packet_processing.c
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
- * process_packet.c
- *
- * Created on: Mar 2, 2016
- * Author: ucart
- */
-#include "packet_processing.h"
-#include "type_def.h"
-#include "util.h"
-#include "communication.h"
-
-#define DEBUG 0
-
-tokenList_t tokenize(char* cmd) {
- int maxTokens = 16;
- tokenList_t ret;
- ret.numTokens = 0;
- ret.tokens = malloc(sizeof(char *)* 20 * maxTokens);
-
- int i = 0;
- ret.tokens[0] = NULL;
- char* token = strtok(cmd, " ");
- while (token != NULL && i < maxTokens - 1) {
- ret.tokens[i] = malloc(strlen(token) + 10);
- strcpy(ret.tokens[i], token);
- ret.tokens[++i] = NULL;
- ret.numTokens++;
- token = strtok(NULL, " ");
- }
-
- return ret;
-}
-
-float getFloat(unsigned char* str, int pos) {
- union {
- float f;
- int i;
- } x;
- x.i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
- return x.f;
-}
-
-int getInt(unsigned char* str, int pos) {
- int i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
- return i;
-}
diff --git a/quad/src/quad_app/packet_processing.h b/quad/src/quad_app/packet_processing.h
deleted file mode 100644
index 55a5494b3e1535ac46db7abdaa0ee18b2591f212..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/packet_processing.h
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * process_packet.h
- *
- * Created on: Mar 2, 2016
- * Author: ucart
- */
-
-#ifndef PROCESS_PACKET_H_
-#define PROCESS_PACKET_H_
-
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-#include "type_def.h"
-
-tokenList_t tokenize(char* cmd);
-int processUpdate(unsigned char* update, quadPosition_t* currentQuadPosition);
-//int processCommand(stringBuilder_t * sb, setpoint_t * setpoint_struct, parameter_t * parameter_struct);
-int doProcessing(char* cmd, tokenList_t * tokens, setpoint_t * setpoint_struct, parameter_t * parameter_struct);
-float getFloat(unsigned char* str, int pos);
-int getInt(unsigned char* str, int pos);
-
-#endif /* PROCESS_PACKET_H_ */
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 5195fb7b7876ba11d7653dc6667f5711822e8cf8..72c362d3930f64678997341209c61b2d4b6c3f6b 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -13,7 +13,6 @@
#include "sensor_processing.h"
#include "control_algorithm.h"
#include "send_actuator_commands.h"
-#include "update_gui.h"
#include "communication.h"
#include "mio7_led.h"
@@ -71,8 +70,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
else {
kill_motors(&(structs.hardware_struct.motors));
}
- // update the GUI
- update_GUI(&(structs.log_struct));
if (!this_kill_condition) {
// Log the data collected in this loop
diff --git a/quad/src/quad_app/quadposition.h b/quad/src/quad_app/quadposition.h
deleted file mode 100644
index 05011e04e6289f951700e838b666634b04b4cbc9..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/quadposition.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef _QUADPOSITION_H
-#define _QUADPOSITION_H
-
-
-
-#endif /* _QUADPOSITION_H */
diff --git a/quad/src/quad_app/sensor.h b/quad/src/quad_app/sensor.h
index d8b9c2620408626afe187c000564968c006ac867..da359e3e05e94133cc33bdae196f894554021570 100644
--- a/quad/src/quad_app/sensor.h
+++ b/quad/src/quad_app/sensor.h
@@ -12,7 +12,6 @@
#include "log_data.h"
#include "user_input.h"
-#include "packet_processing.h"
#include "hw_iface.h"
/**
diff --git a/quad/src/quad_app/sensor_processing.c b/quad/src/quad_app/sensor_processing.c
index 5e3ca9f2ff4484625da6df72009e77ce44ade924..fb75828f6597781d5761029e49b5c8dfaed85180 100644
--- a/quad/src/quad_app/sensor_processing.c
+++ b/quad/src/quad_app/sensor_processing.c
@@ -9,7 +9,6 @@
#include "log_data.h"
#include "sensor.h"
#include "conversion.h"
-#include "quadposition.h"
#include "sensor_processing.h"
#include "timer.h"
#include <math.h>
diff --git a/quad/src/quad_app/update_gui.c b/quad/src/quad_app/update_gui.c
deleted file mode 100644
index 320936e5aa73f0309209ab945f56807f72d69d1d..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/update_gui.c
+++ /dev/null
@@ -1,14 +0,0 @@
-/*
- * update_gui.c
- *
- * Created on: Feb 20, 2016
- * Author: ucart
- */
-
-#include "update_gui.h"
-
-int update_GUI(log_t* log_struct)
-{
- return 0;
-}
-
diff --git a/quad/src/quad_app/update_gui.h b/quad/src/quad_app/update_gui.h
deleted file mode 100644
index a348ade955798e225c96f1b59b27d79a75861d59..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/update_gui.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/*
- * update_gui.h
- *
- * Created on: Feb 20, 2016
- * Author: ucart
- */
-
-#ifndef UPDATE_GUI_H_
-#define UPDATE_GUI_H_
-
-#include <stdio.h>
-
-#include "log_data.h"
-
-/**
- * @brief
- * Updates the user interface.
- *
- * @param log_struct
- * structure of the data to be logged
- *
- * @return
- * error message
- *
- */
-int update_GUI(log_t* log_struct);
-
-#endif /* UPDATE_GUI_H_ */