From 82a470e87907aba9bb876ef89e97b65a3a7061d1 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Fri, 21 Apr 2017 21:22:40 -0500
Subject: [PATCH] quad: delete unused files (13 files?!?!)
resolves #16
---
quad/src/quad_app/PID.c | 63 --------
quad/src/quad_app/README.txt | 1 -
quad/src/quad_app/control_algorithm.h | 1 -
quad/src/quad_app/controllers.c | 48 ------
quad/src/quad_app/controllers.h | 1 -
quad/src/quad_app/gam.h | 38 -----
quad/src/quad_app/new_PID.h | 57 -------
quad/src/quad_app/new_log_data.c | 225 --------------------------
quad/src/quad_app/new_log_data.h | 47 ------
quad/src/quad_app/old_log_data.h | 47 ------
quad/src/quad_app/packet_processing.c | 46 ------
quad/src/quad_app/packet_processing.h | 23 ---
quad/src/quad_app/quad_app.c | 3 -
quad/src/quad_app/quadposition.h | 6 -
quad/src/quad_app/sensor.h | 1 -
quad/src/quad_app/sensor_processing.c | 1 -
quad/src/quad_app/update_gui.c | 14 --
quad/src/quad_app/update_gui.h | 28 ----
18 files changed, 650 deletions(-)
delete mode 100644 quad/src/quad_app/PID.c
delete mode 100644 quad/src/quad_app/README.txt
delete mode 100644 quad/src/quad_app/controllers.c
delete mode 100644 quad/src/quad_app/gam.h
delete mode 100644 quad/src/quad_app/new_PID.h
delete mode 100644 quad/src/quad_app/new_log_data.c
delete mode 100644 quad/src/quad_app/new_log_data.h
delete mode 100644 quad/src/quad_app/old_log_data.h
delete mode 100644 quad/src/quad_app/packet_processing.c
delete mode 100644 quad/src/quad_app/packet_processing.h
delete mode 100644 quad/src/quad_app/quadposition.h
delete mode 100644 quad/src/quad_app/update_gui.c
delete mode 100644 quad/src/quad_app/update_gui.h
diff --git a/quad/src/quad_app/PID.c b/quad/src/quad_app/PID.c
deleted file mode 100644
index 185e7b8dc..000000000
--- 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 0e065fbfb..000000000
--- 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 8e8a15b79..92c0feeac 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 14abde800..000000000
--- 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 40c783260..2b6f38cc5 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 0f4803e8d..000000000
--- 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 fae2778ec..000000000
--- 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 7b2b758f2..000000000
--- 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 13e713a9e..000000000
--- 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 13e713a9e..000000000
--- 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 8652c9233..000000000
--- 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 55a5494b3..000000000
--- 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 5195fb7b7..72c362d39 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 05011e04e..000000000
--- 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 d8b9c2620..da359e3e0 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 5e3ca9f2f..fb75828f6 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 320936e5a..000000000
--- 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 a348ade95..000000000
--- 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_ */
--
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