Merged move of additional apps out of NuttX folders

apps/drivers/mpu6000/Makefile

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build the BMA180 driver.
-#
-
-APPNAME		 = mpu6000
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk

apps/examples/control_demo/Makefile

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = control_demo
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk

apps/examples/kalman_demo/Makefile

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = kalman_demo
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk

apps/fixedwing_pos_control/Makefile

@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Fixedwing Control application
-#
-
-APPNAME		 = fixedwing_pos_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
-

apps/hott_telemetry/Makefile

@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Graupner HoTT Telemetry application.
-#
-
-# The following line is required for accessing UARTs directly.
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-APPNAME		 = hott_telemetry
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk

apps/multirotor_att_control/Makefile

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build uORB
-#
-
-APPNAME		 = multirotor_att_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 15
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk

apps/multirotor_pos_control/Makefile

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build multirotor position control
-#
-
-APPNAME		 = multirotor_pos_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 25
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk

makefiles/config_px4fmu_default.mk

@@ -10,12 +10,21 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
 #
 # Board support modules
 #
+MODULES		+= drivers/px4io
 MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu
 MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
 MODULES		+= drivers/ardrone_interface
-MODULES		+= drivers/px4io
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/bma180
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott_telemetry
+MODULES		+= drivers/blinkm
 MODULES		+= modules/sensors
 
 #
@@ -46,6 +55,17 @@ MODULES		+= modules/mavlink_onboard
 #
 MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/position_estimator_mc
+MODULES		+= modules/position_estimator
+MODULES		+= modules/att_pos_estimator_ekf
+
+#
+# Vehicle Control
+#
+MODULES		+= modules/fixedwing_backside
+MODULES		+= modules/fixedwing_att_control
+MODULES		+= modules/fixedwing_pos_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
 
 #
 # Logging
@@ -67,21 +87,7 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, adc,                    ,                          2048,  adc_main                   ) \
-	$(call _B, blinkm,                 ,                          2048,  blinkm_main                ) \
-	$(call _B, bma180,                 ,                          2048,  bma180_main                ) \
-	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
-	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
-	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
-	$(call _B, gps,                    ,                          2048,  gps_main                   ) \
-	$(call _B, hil,                    ,                          2048,  hil_main                   ) \
-	$(call _B, hmc5883,                ,                          4096,  hmc5883_main               ) \
-	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
-	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
-	$(call _B, mpu6000,                ,                          4096,  mpu6000_main               ) \
-	$(call _B, ms5611,                 ,                          2048,  ms5611_main                ) \
-	$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15,     2048,  multirotor_att_control_main) \
-	$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25,     2048,  multirotor_pos_control_main) \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
 	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \

src/drivers/blinkm/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,6 @@
 # BlinkM I2C LED driver
 #
 
-APPNAME		 = blinkm
+MODULE_COMMAND	= blinkm
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
 
-include $(APPDIR)/mk/app.mk
+SRCS		= blinkm.cpp

src/drivers/bma180/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,6 @@
 # Makefile to build the BMA180 driver.
 #
 
-APPNAME		 = bma180
+MODULE_COMMAND	= bma180
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
 
-include $(APPDIR)/mk/app.mk
+SRCS		= bma180.cpp

src/drivers/gps/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,9 @@
 # GPS driver
 #
 
-APPNAME		 = gps
+MODULE_COMMAND	= gps
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
 
-include $(APPDIR)/mk/app.mk
+SRCS		= gps.cpp \
+		  gps_helper.cpp \
+		  mtk.cpp \
+		  ubx.cpp

src/drivers/hil/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# HMC5883 driver
+# Hardware in the Loop (HIL) simulation actuator output bank
 #
 
-APPNAME		 = hmc5883
+MODULE_COMMAND	= hil
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
 
-include $(APPDIR)/mk/app.mk
+SRCS		= hil.cpp

src/drivers/hmc5883/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,12 @@
 ############################################################################
 
 #
-# Interface driver for the PX4FMU board
+# HMC5883 driver
 #
 
-APPNAME		 = hil
+MODULE_COMMAND	= hmc5883
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
 
-include $(APPDIR)/mk/app.mk
+# XXX seems excessive, check if 2048 is sufficient
+MODULE_STACKSIZE	= 4096
+
+SRCS		= hmc5883.cpp

src/drivers/hott_telemetry/hott_telemetry_main.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
 
 /**
  * @file hott_telemetry_main.c
+ * @author Simon Wilks <sjwilks@gmail.com>
  *
  * Graupner HoTT Telemetry implementation.
  *
@@ -41,7 +42,6 @@
  * a data packet can be returned if necessary.
  *
  * TODO: Add support for at least the vario and GPS sensor data.
- *
  */
 
 #include <fcntl.h>
@@ -57,12 +57,6 @@
 
 #include "messages.h"
 
-/* The following are equired for UART direct manipulation. */
-#include <arch/board/board.h>
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-
 static int thread_should_exit = false;		/**< Deamon exit flag */
 static int thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */

src/drivers/hott_telemetry/messages.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,7 +34,7 @@
 
 /**
  * @file messages.c
- *
+ * @author Simon Wilks <sjwilks@gmail.com>
  */
 
 #include "messages.h"

src/drivers/hott_telemetry/messages.h

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Simon Wilks <sjwilks@gmail.com>
+ *   Author: Simon Wilks <sjwilks@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +34,7 @@
 
 /**
  * @file messages.h
+ * @author Simon Wilks <sjwilks@gmail.com>
  *
  * Graupner HoTT Telemetry message generation.
  *

src/drivers/hott_telemetry/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Graupner HoTT Telemetry application.
+#
+
+MODULE_COMMAND	= hott_telemetry
+
+SRCS		= hott_telemetry_main.c \
+		  messages.c

src/drivers/mb12xx/mb12xx.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/mb12xx/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,6 @@
 # Makefile to build the Maxbotix Sonar driver.
 #
 
-APPNAME		= mb12xx
+MODULE_COMMAND	= mb12xx
-PRIORITY	= SCHED_PRIORITY_DEFAULT
-STACKSIZE	= 2048
 
-include $(APPDIR)/mk/app.mk
+SRCS		= mb12xx.cpp

src/drivers/mpu6000/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build the MPU6000 driver.
+#
+
+MODULE_COMMAND	= mpu6000
+
+# XXX seems excessive, check if 2048 is not sufficient
+MODULE_STACKSIZE	 = 4096
+
+SRCS		= mpu6000.cpp

src/drivers/mpu6000/mpu6000.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/ms5611/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,8 +35,6 @@
 # MS5611 driver
 #
 
-APPNAME		 = ms5611
+MODULE_COMMAND	= ms5611
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
 
-include $(APPDIR)/mk/app.mk
+SRCS		= ms5611.cpp

src/modules/att_pos_estimator_ekf/kalman_main.cpp

@@ -55,7 +55,7 @@ static int deamon_task;             /**< Handle of deamon task / thread */
 /**
  * Deamon management function.
  */
-extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]);
+extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
 
 /**
  * Mainloop of deamon.
@@ -85,7 +85,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int kalman_demo_main(int argc, char *argv[])
+int att_pos_estimator_ekf_main(int argc, char *argv[])
 {
 
 	if (argc < 1)

src/modules/att_pos_estimator_ekf/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,14 +32,14 @@
 ############################################################################
 
 #
-# Fixedwing Control application
+# Full attitude / position Extended Kalman Filter
 #
 
-APPNAME		 = fixedwing_att_control
+MODULE_COMMAND	= att_pos_estimator_ekf
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
 
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
+# XXX this might be intended for the spawned deamon, validate
-
+MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
-include $(APPDIR)/mk/app.mk
 
+SRCS		= kalman_main.cpp \
+		  KalmanNav.cpp \
+		  params.c

src/modules/fixedwing_att_control/fixedwing_att_control_att.c

@@ -35,7 +35,6 @@
  * @file fixedwing_att_control_rate.c
  * Implementation of a fixed wing attitude controller.
  */
-#include <fixedwing_att_control_att.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -59,7 +58,7 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
-
+#include "fixedwing_att_control_att.h"
 
 
 struct fw_att_control_params {

src/modules/fixedwing_att_control/fixedwing_att_control_main.c

@@ -65,8 +65,9 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
-#include <fixedwing_att_control_rate.h>
+
-#include <fixedwing_att_control_att.h>
+#include "fixedwing_att_control_rate.h"
+#include "fixedwing_att_control_att.h"
 
 /* Prototypes */
 /**

src/modules/fixedwing_att_control/fixedwing_att_control_rate.c

@@ -33,11 +33,11 @@
  ****************************************************************************/
 /**
  * @file fixedwing_att_control_rate.c
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *
  * Implementation of a fixed wing attitude controller.
  *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
-#include <fixedwing_att_control_rate.h>
 
 #include <nuttx/config.h>
 #include <stdio.h>
@@ -61,6 +61,8 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
+#include "fixedwing_att_control_rate.h"
+
 /*
  * Controller parameters, accessible via MAVLink
  *

src/modules/fixedwing_att_control/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Fixedwing Attitude Control application
+#
+
+MODULE_COMMAND	= fixedwing_att_control
+
+SRCS		= fixedwing_att_control_main.c \
+		  fixedwing_att_control_att.c \
+		  fixedwing_att_control_rate.c

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
+ *   Author: James Goppert
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,8 +33,10 @@
  ****************************************************************************/
 
 /**
- * @file control_demo.cpp
+ * @file fixedwing_backside_main.cpp
- * Demonstration of control library
+ * @author James Goppert
+ *
+ * Fixedwing backside controller using control library
  */
 
 #include <nuttx/config.h>
@@ -55,7 +57,7 @@ static int deamon_task;             /**< Handle of deamon task / thread */
 /**
  * Deamon management function.
  */
-extern "C" __EXPORT int control_demo_main(int argc, char *argv[]);
+extern "C" __EXPORT int fixedwing_backside_main(int argc, char *argv[]);
 
 /**
  * Mainloop of deamon.
@@ -90,7 +92,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int control_demo_main(int argc, char *argv[])
+int fixedwing_backside_main(int argc, char *argv[])
 {
 
 	if (argc < 1)

src/modules/fixedwing_backside/module.mk

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Fixedwing backside controller
+#
+
+MODULE_COMMAND	= fixedwing_backside
+
+SRCS		= fixedwing_backside_main.cpp

src/modules/fixedwing_pos_control/module.mk

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Fixedwing PositionControl application
+#
+
+MODULE_COMMAND	= fixedwing_pos_control
+
+SRCS		= fixedwing_pos_control_main.c

src/modules/multirotor_att_control/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build the multirotor attitude controller
+#
+
+MODULE_COMMAND	= multirotor_att_control
+
+SRCS		= multirotor_att_control_main.c \
+		  multirotor_attitude_control.c \
+		  multirotor_rate_control.c

src/modules/multirotor_pos_control/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build multirotor position control
+#
+
+MODULE_COMMAND	= multirotor_pos_control
+
+SRCS		= multirotor_pos_control.c \
+		  multirotor_pos_control_params.c

src/modules/position_estimator/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,10 +35,10 @@
 # Makefile to build the position estimator
 #
 
-APPNAME		 = position_estimator
+MODULE_COMMAND		= position_estimator
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
 
-CSRCS		 = position_estimator_main.c
+# XXX this should be converted to a deamon, its a pretty bad example app
+MODULE_PRIORITY	 	= SCHED_PRIORITY_DEFAULT
+MODULE_STACKSIZE	= 4096
 
-include $(APPDIR)/mk/app.mk
+SRCS		 	= position_estimator_main.c