Deleting unused file from svn

Conflicts:

	flight/AHRS/ahrs_adc.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2442 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/AHRS/MagOrAccelSensorCal.c

@@ -1,149 +0,0 @@
-
-/**
- ******************************************************************************
- *
- * @file       MagOrAccelSensorCal.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      3 axis sensor cal from six measurements taken in a constant field.
- *             Call SixPointInConstFieldCal(FieldMagnitude, X, Y, Z, S, b)
- *             - FieldMagnitude is the constant field, e.g. 9.81 for accels
- *             - X, Y, Z are vectors of six measurements from different orientations
- *             - returns, S[3] and b[3], that are the scale and offsett for the axes
- *             - i.e. Measurementx = S[0]*Sensorx + b[0]
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include <math.h>
-#include "stdint.h"
-
-//Function Prototypes
-int16_t SixPointInConstFieldCal(double ConstMag, double x[6], double y[6],
-				double z[6], double S[3], double b[3]);
-int16_t LinearEquationsSolving(int16_t nDim, double *pfMatr,
-			       double *pfVect, double *pfSolution);
-
-int16_t SixPointInConstFieldCal(double ConstMag, double x[6], double y[6],
-				double z[6], double S[3], double b[3])
-{
-	int16_t i;
-	double A[5][5];
-	double f[5], c[5];
-	double xp, yp, zp, Sx;
-
-	// Fill in matrix A -
-	// write six difference-in-magnitude equations of the form
-	// Sx^2(x2^2-x1^2) + 2*Sx*bx*(x2-x1) + Sy^2(y2^2-y1^2) + 2*Sy*by*(y2-y1) + Sz^2(z2^2-z1^2) + 2*Sz*bz*(z2-z1) = 0
-	// or in other words
-	// 2*Sx*bx*(x2-x1)/Sx^2  + Sy^2(y2^2-y1^2)/Sx^2  + 2*Sy*by*(y2-y1)/Sx^2  + Sz^2(z2^2-z1^2)/Sx^2  + 2*Sz*bz*(z2-z1)/Sx^2  = (x1^2-x2^2)
-	for (i = 0; i < 5; i++) {
-		A[i][0] = 2.0 * (x[i + 1] - x[i]);
-		A[i][1] = y[i + 1] * y[i + 1] - y[i] * y[i];
-		A[i][2] = 2.0 * (y[i + 1] - y[i]);
-		A[i][3] = z[i + 1] * z[i + 1] - z[i] * z[i];
-		A[i][4] = 2.0 * (z[i + 1] - z[i]);
-		f[i] = x[i] * x[i] - x[i + 1] * x[i + 1];
-	}
-
-	// solve for c0=bx/Sx, c1=Sy^2/Sx^2; c2=Sy*by/Sx^2, c3=Sz^2/Sx^2, c4=Sz*bz/Sx^2
-	if (!LinearEquationsSolving(5, (double *)A, f, c))
-		return 0;
-
-	// use one magnitude equation and c's to find Sx - doesn't matter which - all give the same answer
-	xp = x[0];
-	yp = y[0];
-	zp = z[0];
-	Sx = sqrt(ConstMag * ConstMag /
-		  (xp * xp + 2 * c[0] * xp + c[0] * c[0] + c[1] * yp * yp +
-		   2 * c[2] * yp + c[2] * c[2] / c[1] + c[3] * zp * zp +
-		   2 * c[4] * zp + c[4] * c[4] / c[3]));
-
-	S[0] = Sx;
-	b[0] = Sx * c[0];
-	S[1] = sqrt(c[1] * Sx * Sx);
-	b[1] = c[2] * Sx * Sx / S[1];
-	S[2] = sqrt(c[3] * Sx * Sx);
-	b[2] = c[4] * Sx * Sx / S[2];
-
-	return 1;
-}
-
-//*****************************************************************
-
-int16_t LinearEquationsSolving(int16_t nDim, double *pfMatr,
-			       double *pfVect, double *pfSolution)
-{
-	double fMaxElem;
-	double fAcc;
-
-	int16_t i, j, k, m;
-
-	for (k = 0; k < (nDim - 1); k++)	// base row of matrix
-	{
-		// search of line with max element
-		fMaxElem = fabs(pfMatr[k * nDim + k]);
-		m = k;
-		for (i = k + 1; i < nDim; i++) {
-			if (fMaxElem < fabs(pfMatr[i * nDim + k])) {
-				fMaxElem = pfMatr[i * nDim + k];
-				m = i;
-			}
-		}
-
-		// permutation of base line (index k) and max element line(index m)
-		if (m != k) {
-			for (i = k; i < nDim; i++) {
-				fAcc = pfMatr[k * nDim + i];
-				pfMatr[k * nDim + i] =
-				    pfMatr[m * nDim + i];
-				pfMatr[m * nDim + i] = fAcc;
-			}
-			fAcc = pfVect[k];
-			pfVect[k] = pfVect[m];
-			pfVect[m] = fAcc;
-		}
-
-		if (pfMatr[k * nDim + k] == 0.)
-			return 0;	// needs improvement !!!
-
-		// triangulation of matrix with coefficients
-		for (j = (k + 1); j < nDim; j++)	// current row of matrix
-		{
-			fAcc =
-			    -pfMatr[j * nDim + k] / pfMatr[k * nDim + k];
-			for (i = k; i < nDim; i++) {
-				pfMatr[j * nDim + i] =
-				    pfMatr[j * nDim + i] +
-				    fAcc * pfMatr[k * nDim + i];
-			}
-			pfVect[j] = pfVect[j] + fAcc * pfVect[k];	// free member recalculation
-		}
-	}
-
-	for (k = (nDim - 1); k >= 0; k--) {
-		pfSolution[k] = pfVect[k];
-		for (i = (k + 1); i < nDim; i++) {
-			pfSolution[k] -=
-			    (pfMatr[k * nDim + i] * pfSolution[i]);
-		}
-		pfSolution[k] = pfSolution[k] / pfMatr[k * nDim + k];
-	}
-
-	return 1;
-}

flight/AHRS/ahrs_adc.c

@@ -1,302 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup AHRS AHRS
- * @brief The AHRS Modules perform
- *
- * @{ 
- * @addtogroup AHRS_ADC AHRS ADC
- * @brief Specialized ADC code for double buffered DMA for AHRS
- * @{ 
- *
- *
- * @file       ahrs.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      INSGPS Test Program
- * @see        The GNU Public License (GPL) Version 3
- * 
- *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "ahrs_adc.h"
-
-// Remap the ADC DMA handler to this one
-void DMA1_Channel1_IRQHandler()
-    __attribute__ ((alias("AHRS_ADC_DMA_Handler")));
-
-//! Where the raw data is stored
-volatile int16_t raw_data_buffer[MAX_SAMPLES];	// Double buffer that DMA just used
-
-//! Various configuration settings
-struct {
-	volatile int16_t *valid_data_buffer;
-	volatile uint8_t adc_oversample;
-	int16_t fir_coeffs[MAX_OVERSAMPLING];
-} adc_config;
-
-//! Filter coefficients used in decimation.  Limited order so filter can't run between samples
-float downsampled_buffer[PIOS_ADC_NUM_PINS];
-
-static ADCCallback callback_function = (ADCCallback) NULL;
-
-/* Local Variables */
-static GPIO_TypeDef *ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
-static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS;
-static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
-
-static ADC_TypeDef *ADC_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_MAPPING;
-static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] =
-    PIOS_ADC_CHANNEL_MAPPING;
-
-/**
- * @brief Initialise the ADC Peripheral
- * @param[in] adc_oversample
- * @return 
- *  @arg 1 for success
- *  @arg 0 for failure
- * Currently ignores rates and uses hardcoded values.  Need a little logic to
- * map from sampling rates and such to ADC constants.
- */
-uint8_t AHRS_ADC_Config(int32_t adc_oversample)
-{
-
-	int32_t i;
-
-	adc_config.adc_oversample = adc_oversample;
-	
-	ADC_DeInit(ADC1);
-	ADC_DeInit(ADC2);
-
-	/* Setup analog pins */
-	GPIO_InitTypeDef GPIO_InitStructure;
-	GPIO_StructInit(&GPIO_InitStructure);
-	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
-
-	/* Enable each ADC pin in the array */
-	for (i = 0; i < PIOS_ADC_NUM_PINS; i++) {
-		GPIO_InitStructure.GPIO_Pin = ADC_GPIO_PIN[i];
-		GPIO_Init(ADC_GPIO_PORT[i], &GPIO_InitStructure);
-	}
-
-	/* Enable ADC clocks */
-	PIOS_ADC_CLOCK_FUNCTION;
-
-	/* Map channels to conversion slots depending on the channel selection mask */
-	for (i = 0; i < PIOS_ADC_NUM_PINS; i++) {
-		ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i],
-					 ADC_CHANNEL_MAPPING[i],
-					 PIOS_ADC_SAMPLE_TIME);
-	}
-
-#if (PIOS_ADC_USE_TEMP_SENSOR)
-	ADC_TempSensorVrefintCmd(ENABLE);
-	ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_14,
-				 PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL,
-				 PIOS_ADC_SAMPLE_TIME);
-#endif
-
-	// TODO: update ADC to continuous sampling, configure the sampling rate
-	/* Configure ADCs */
-	ADC_InitTypeDef ADC_InitStructure;
-	ADC_StructInit(&ADC_InitStructure);
-	ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
-	ADC_InitStructure.ADC_ScanConvMode = ENABLE;
-	ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
-	ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
-	ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
-	ADC_InitStructure.ADC_NbrOfChannel =
-	    ((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
-	ADC_Init(ADC1, &ADC_InitStructure);
-
-#if (PIOS_ADC_USE_ADC2)
-	ADC_Init(ADC2, &ADC_InitStructure);
-
-	/* Enable ADC2 external trigger conversion (to synch with ADC1) */
-	ADC_ExternalTrigConvCmd(ADC2, ENABLE);
-#endif
-
-	RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
-	RCC_PCLK2Config(RCC_HCLK_Div16);
-
-	/* Enable ADC1->DMA request */
-	ADC_DMACmd(ADC1, ENABLE);
-
-	/* ADC1 calibration */
-	ADC_Cmd(ADC1, ENABLE);
-	ADC_ResetCalibration(ADC1);
-	while (ADC_GetResetCalibrationStatus(ADC1)) ;
-	ADC_StartCalibration(ADC1);
-	while (ADC_GetCalibrationStatus(ADC1)) ;
-
-#if (PIOS_ADC_USE_ADC2)
-	/* ADC2 calibration */
-	ADC_Cmd(ADC2, ENABLE);
-	ADC_ResetCalibration(ADC2);
-	while (ADC_GetResetCalibrationStatus(ADC2)) ;
-	ADC_StartCalibration(ADC2);
-	while (ADC_GetCalibrationStatus(ADC2)) ;
-#endif
-
-	/* Enable DMA1 clock */
-	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
-
-	/* Configure DMA1 channel 1 to fetch data from ADC result register */
-	DMA_InitTypeDef DMA_InitStructure;
-	DMA_StructInit(&DMA_InitStructure);
-	DMA_DeInit(DMA1_Channel1);
-	DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR;
-	DMA_InitStructure.DMA_MemoryBaseAddr =
-	    (uint32_t) & raw_data_buffer[0];
-	DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
-	/* We are double buffering half words from the ADC.  Make buffer appropriately sized */
-	DMA_InitStructure.DMA_BufferSize =
-	    (PIOS_ADC_NUM_CHANNELS * adc_oversample * 2) >> 1;
-	DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
-	DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
-	/* Note: We read ADC1 and ADC2 in parallel making a word read, also hence the half buffer size */
-	DMA_InitStructure.DMA_PeripheralDataSize =
-	    DMA_PeripheralDataSize_Word;
-	DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
-	DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
-	DMA_InitStructure.DMA_Priority = DMA_Priority_High;
-	DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
-	DMA_Init(DMA1_Channel1, &DMA_InitStructure);
-	DMA_Cmd(DMA1_Channel1, ENABLE);
-
-	/* Trigger interrupt when for half conversions too to indicate double buffer */
-	DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
-	DMA_ITConfig(DMA1_Channel1, DMA_IT_HT, ENABLE);
-
-	/* Configure and enable DMA interrupt */
-	NVIC_InitTypeDef NVIC_InitStructure;
-	NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
-	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =
-	    PIOS_ADC_IRQ_PRIO;
-	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-	NVIC_Init(&NVIC_InitStructure);
-
-	/* Finally start initial conversion */
-	ADC_SoftwareStartConvCmd(ADC1, ENABLE);
-
-	/* Use simple averaging filter for now */
-	for (int i = 0; i < adc_oversample; i++)
-		adc_config.fir_coeffs[i] = 1;
-	adc_config.fir_coeffs[adc_oversample] = adc_oversample;
-	
-	return 1;
-}
-
-/**
- * @brief Set a callback function that is executed whenever
- * the ADC double buffer swaps 
- */
-void AHRS_ADC_SetCallback(ADCCallback new_function) 
-{
-	callback_function = new_function;
-}
-
-/**
- * @brief Return the address of the downsampled data buffer 
- */
-float * AHRS_ADC_GetBuffer(void)
-{
-	return downsampled_buffer;
-}
-
-/**
- * @brief Return the address of the raw data data buffer 
- */
-int16_t * AHRS_ADC_GetRawBuffer(void)
-{
-	return (int16_t *) adc_config.valid_data_buffer;
-}
-
-/**
- * @brief Return the amount of over sampling
- */
-uint8_t AHRS_ADC_GetOverSampling(void)
-{
-    return adc_config.adc_oversample;
-}
-
-/**
- * @brief Set the fir coefficients.  Takes as many samples as the 
- * current filter order plus one (normalization)
- *
- * @param new_filter Array of adc_oversampling floats plus one for the
- * filter coefficients
- */
-void AHRS_ADC_SetFIRCoefficients(float * new_filter)
-{
-	// Less than or equal to get normalization constant
-	for(int i = 0; i <= adc_config.adc_oversample; i++) 
-		adc_config.fir_coeffs[i] = new_filter[i];
-}
-
-/**
- * @brief Downsample the data for each of the channels then call
- * callback function if installed
- */ 
-void AHRS_ADC_downsample_data()
-{
-	for (int chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++)
-	{
-		register int32_t sum = 0;
-		for (int sample = 0, k = chan; sample < adc_config.adc_oversample; sample++)
-		{
-//			sum += (int32_t)adc_config.valid_data_buffer[chan + sample * PIOS_ADC_NUM_CHANNELS] * adc_config.fir_coeffs[sample];
-            sum += (int32_t)adc_config.valid_data_buffer[k] * adc_config.fir_coeffs[sample];
-			k += PIOS_ADC_NUM_CHANNELS;
-		}
-		downsampled_buffer[chan] = (float)sum / adc_config.fir_coeffs[adc_config.adc_oversample];
-	}
-	
-	if (callback_function)
-		callback_function(downsampled_buffer);
-}
-
-/**
- * @brief Interrupt for half and full buffer transfer
- * 
- * This interrupt handler swaps between the two halfs of the double buffer to make
- * sure the ahrs uses the most recent data.  Only swaps data when AHRS is idle, but
- * really this is a pretense of a sanity check since the DMA engine is consantly 
- * running in the background.  Keep an eye on the ekf_too_slow variable to make sure
- * it's keeping up.
- */
-void AHRS_ADC_DMA_Handler(void)
-{
-	if (DMA_GetFlagStatus(DMA1_IT_TC1)) {	// whole double buffer filled 
-		adc_config.valid_data_buffer =
-			&raw_data_buffer[1 * PIOS_ADC_NUM_CHANNELS *
-				 adc_config.adc_oversample];
-		DMA_ClearFlag(DMA1_IT_TC1);
-		AHRS_ADC_downsample_data();
-	}
-	else if (DMA_GetFlagStatus(DMA1_IT_HT1)) {
-		adc_config.valid_data_buffer = 
-			&raw_data_buffer[0 * PIOS_ADC_NUM_CHANNELS *
-				 adc_config.adc_oversample];
-		DMA_ClearFlag(DMA1_IT_HT1);
-		AHRS_ADC_downsample_data();
-	}
-	else {
-		// This should not happen, probably due to transfer errors
-		DMA_ClearFlag(DMA1_FLAG_GL1);
-	}
-}

flight/AHRS/inc/ahrs_adc.h

@@ -1,54 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup AHRS AHRS Control
- * @brief The AHRS Modules perform
- *
- * @{ 
- * @addtogroup AHRS_ADC
- * @brief Specialized ADC code for double buffered DMA for AHRS
- * @{ 
- *
- *
- * @file       ahrs.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      INSGPS Test Program
- * @see        The GNU Public License (GPL) Version 3
- * 
- *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef AHRS_ADC
-#define AHRS_ADC
-
-#include <pios.h>
-
-// Maximum of 50 oversampled points
-#define MAX_OVERSAMPLING 50    /* cannot have more than 50 samples      */
-#define MAX_SAMPLES (PIOS_ADC_NUM_CHANNELS*MAX_OVERSAMPLING*2)
-
-typedef void (*ADCCallback) (float * data);
-
-// Public API:
-uint8_t AHRS_ADC_Config(int32_t adc_oversample);
-void AHRS_ADC_DMA_Handler(void);
-void AHRS_ADC_SetCallback(ADCCallback);
-void AHRS_ADC_SetFIRCoefficients(float * new_filter);
-float * AHRS_ADC_GetBuffer(void);
-int16_t * AHRS_ADC_GetRawBuffer(void);
-uint8_t AHRS_ADC_GetOverSampling(void);
-
-#endif

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -167,7 +167,6 @@
 		6526645A122DF972006F9A3C /* pios_i2c_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_priv.h; sourceTree = "<group>"; };
 		6526645B122DF972006F9A3C /* pios_wdg.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_wdg.h; sourceTree = "<group>"; };
 		65322D3B122841F60046CD7C /* gpstime.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpstime.xml; sourceTree = "<group>"; };
-		65322D77122897210046CD7C /* MagOrAccelSensorCal.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = MagOrAccelSensorCal.c; path = ../../AHRS/MagOrAccelSensorCal.c; sourceTree = SOURCE_ROOT; };
 		65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; };
 		65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = "<group>"; };
 		6543304F121980300063F913 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
@@ -2970,7 +2969,6 @@
 		65E8F03511EFF25C00BBF654 /* pios_opahrs_proto.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_opahrs_proto.c; path = ../../PiOS/Common/pios_opahrs_proto.c; sourceTree = SOURCE_ROOT; };
 		65E8F03611EFF25C00BBF654 /* pios_sdcard.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_sdcard.c; path = ../../PiOS/Common/pios_sdcard.c; sourceTree = SOURCE_ROOT; };
 		65E8F03711EFF25C00BBF654 /* printf-stdarg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = "printf-stdarg.c"; path = "../../PiOS/Common/printf-stdarg.c"; sourceTree = SOURCE_ROOT; };
-		65E8F03911EFF25C00BBF654 /* FreeRTOSConfig.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = FreeRTOSConfig.h; path = ../../PiOS/inc/FreeRTOSConfig.h; sourceTree = SOURCE_ROOT; };
 		65E8F03A11EFF25C00BBF654 /* pios_adc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_adc.h; path = ../../PiOS/inc/pios_adc.h; sourceTree = SOURCE_ROOT; };
 		65E8F03B11EFF25C00BBF654 /* pios_bmp085.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_bmp085.h; path = ../../PiOS/inc/pios_bmp085.h; sourceTree = SOURCE_ROOT; };
 		65E8F03C11EFF25C00BBF654 /* pios_com.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_com.h; path = ../../PiOS/inc/pios_com.h; sourceTree = SOURCE_ROOT; };
@@ -3106,8 +3104,6 @@
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 		65E8F0D711EFF25C00BBF654 /* stm32f10x_wwdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = stm32f10x_wwdg.c; path = ../../PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c; sourceTree = SOURCE_ROOT; };
 		65E8F0D811EFF25C00BBF654 /* link_stm32f10x_HD.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_stm32f10x_HD.ld; path = ../../PiOS/STM32F10x/link_stm32f10x_HD.ld; sourceTree = SOURCE_ROOT; };
-		65E8F0D911EFF25C00BBF654 /* link_stm32f10x_HD_BL.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_stm32f10x_HD_BL.ld; path = ../../PiOS/STM32F10x/link_stm32f10x_HD_BL.ld; sourceTree = SOURCE_ROOT; };
-		65E8F0DA11EFF25C00BBF654 /* link_stm32f10x_HD_NB.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_stm32f10x_HD_NB.ld; path = ../../PiOS/STM32F10x/link_stm32f10x_HD_NB.ld; sourceTree = SOURCE_ROOT; };
 		65E8F0DB11EFF25C00BBF654 /* link_stm32f10x_MD.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_stm32f10x_MD.ld; path = ../../PiOS/STM32F10x/link_stm32f10x_MD.ld; sourceTree = SOURCE_ROOT; };
 		65E8F0DC11EFF25C00BBF654 /* pios_adc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_adc.c; path = ../../PiOS/STM32F10x/pios_adc.c; sourceTree = SOURCE_ROOT; };
 		65E8F0DD11EFF25C00BBF654 /* pios_debug.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_debug.c; path = ../../PiOS/STM32F10x/pios_debug.c; sourceTree = SOURCE_ROOT; };
@@ -3128,8 +3124,6 @@
 		65E8F0EE11EFF25C00BBF654 /* startup_stm32f10x_HD.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; name = startup_stm32f10x_HD.S; path = ../../PiOS/STM32F10x/startup_stm32f10x_HD.S; sourceTree = SOURCE_ROOT; };
 		65E8F0F111EFF25C00BBF654 /* startup_stm32f10x_MD.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; name = startup_stm32f10x_MD.S; path = ../../PiOS/STM32F10x/startup_stm32f10x_MD.S; sourceTree = SOURCE_ROOT; };
 		65EA2E171273C55200636061 /* ratedesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ratedesired.xml; sourceTree = "<group>"; };
-		65FC65BE123F209400B04F74 /* ahrs_adc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_adc.c; path = ../../AHRS/ahrs_adc.c; sourceTree = SOURCE_ROOT; };
-		65FC65D5123F22AD00B04F74 /* ahrs_adc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_adc.h; sourceTree = "<group>"; };
 		65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
 		65FC66AB123F312A00B04F74 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
 /* End PBXFileReference section */
@@ -7453,8 +7447,6 @@
 			children = (
 				6509C7E912CA57DC002E5DC2 /* insgps16state.c */,
 				6502584212CA4D2600583CDF /* insgps13state.c */,
-				65322D77122897210046CD7C /* MagOrAccelSensorCal.c */,
-				65FC65BE123F209400B04F74 /* ahrs_adc.c */,
 				65FC66AA123F30F100B04F74 /* ahrs_timer.c */,
 				65B7E6AE120DF1E2000C1123 /* ahrs.c */,
 				65B7E6AF120DF1E2000C1123 /* inc */,
@@ -7468,7 +7460,6 @@
 			isa = PBXGroup;
 			children = (
 				65FC66AB123F312A00B04F74 /* ahrs_timer.h */,
-				65FC65D5123F22AD00B04F74 /* ahrs_adc.h */,
 				6543304F121980300063F913 /* insgps.h */,
 				65B7E6B0120DF1E2000C1123 /* ahrs.h */,
 				65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */,
@@ -7862,7 +7853,6 @@
 				651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */,
 				651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */,
 				651CF9F3120B700D00EEFD70 /* usb_conf.h */,
-				65E8F03911EFF25C00BBF654 /* FreeRTOSConfig.h */,
 				65E8F03A11EFF25C00BBF654 /* pios_adc.h */,
 				65E8F03B11EFF25C00BBF654 /* pios_bmp085.h */,
 				65E8F03C11EFF25C00BBF654 /* pios_com.h */,
@@ -7901,8 +7891,6 @@
 			children = (
 				65E8F05911EFF25C00BBF654 /* Libraries */,
 				65E8F0D811EFF25C00BBF654 /* link_stm32f10x_HD.ld */,
-				65E8F0D911EFF25C00BBF654 /* link_stm32f10x_HD_BL.ld */,
-				65E8F0DA11EFF25C00BBF654 /* link_stm32f10x_HD_NB.ld */,
 				65E8F0DB11EFF25C00BBF654 /* link_stm32f10x_MD.ld */,
 				65E8F0DC11EFF25C00BBF654 /* pios_adc.c */,
 				65E8F0DD11EFF25C00BBF654 /* pios_debug.c */,