AP_AHRS: removed DCM_test example sketch

No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.

libraries/AP_AHRS/examples/DCM_Test/DCM_Test.pde

@@ -1,136 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-//
-// Simple test for the AP_DCM library
-//
-
-#include <FastSerial.h>
-#include <SPI.h>
-#include <I2C.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <AP_PeriodicProcess.h>
-#include <AP_InertialSensor.h>
-#include <AP_ADC.h>
-#include <AP_IMU.h>
-#include <AP_DCM.h>
-#include <AP_Math.h>
-#include <AP_Common.h>
-#include <AP_Compass.h>
-#include <DataFlash.h>
-#include <APM_RC.h>
-#include <GCS_MAVLink.h>
-#include <AP_GPS.h>
-#include <AP_Baro.h>
-
-// uncomment this for a APM2 board
-// #define APM2_HARDWARE
-
-
-FastSerialPort(Serial, 0);
-
-Arduino_Mega_ISR_Registry isr_registry;
-AP_TimerProcess  scheduler;
-#ifdef DESKTOP_BUILD
-AP_Compass_HIL     compass;
-#else
-AP_Compass_HMC5843 compass;
-#endif
-
-#ifdef APM2_HARDWARE
-  AP_InertialSensor_MPU6000 ins( 53 );
-# else
-  AP_ADC_ADS7844          adc;
-  AP_InertialSensor_Oilpan ins( &adc );
-#endif // CONFIG_IMU_TYPE
-
-static GPS         *g_gps;
-
-AP_Baro_BMP085_HIL      barometer;
-
-AP_IMU_INS imu( &ins);
-AP_DCM  dcm(&imu, g_gps);
-
-
-#ifdef APM2_HARDWARE
-# define A_LED_PIN        27
-# define C_LED_PIN        25
-# define LED_ON           LOW
-# define LED_OFF          HIGH
-# define MAG_ORIENTATION  AP_COMPASS_APM2_SHIELD
-#else
-# define A_LED_PIN        37
-# define C_LED_PIN        35
-# define LED_ON           HIGH
-# define LED_OFF          LOW
-# define MAG_ORIENTATION  AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
-#endif
-
-
-static void flash_leds(bool on)
-{
-    digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
-    digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
-}
-
-void setup(void)
-{
-	Serial.begin(115200);
-	Serial.println("Starting up...");
-
-	isr_registry.init();
-	scheduler.init(&isr_registry);
-
-#ifndef DESKTOP_BUILD
-    I2c.begin();
-    I2c.timeOut(5);
-    I2c.setSpeed(true);
-#endif
-
-    SPI.begin();
-    SPI.setClockDivider(SPI_CLOCK_DIV16);
-
-	imu.init(IMU::COLD_START, delay, flash_leds, &scheduler);
-	imu.init_accel(delay, flash_leds);
-
-	compass.set_orientation(MAG_ORIENTATION);
-	if (compass.init()) {
-		Serial.printf("Enabling compass\n");
-		dcm.set_compass(&compass);
-	}
-}
-
-void loop(void)
-{
-	static uint16_t counter;
-	static uint32_t last_t, last_print;
-	uint32_t now = micros();
-	float deltat;
-
-	if (last_t == 0) {
-		last_t = now;
-		return;
-	}
-	deltat = (now - last_t) * 1.0e-6;
-	last_t = now;
-
-	compass.read();
-	dcm.update_DCM();
-	delay(20);
-	counter++;
-
-	if (now - last_print >= 0.5e6) {
-		Vector3f accel = imu.get_accel();
-		Vector3f gyro  = imu.get_gyro();
-		gyro  = imu.get_gyro();
-		accel = imu.get_accel();
-		Serial.printf_P(PSTR("r:%4d  p:%4d  y:%3d  g=(%5.1f %5.1f %5.1f)  a=(%5.1f %5.1f %5.1f) rate=%.1f\n"),
-						(int)dcm.roll_sensor / 100,
-						(int)dcm.pitch_sensor / 100,
-						(uint16_t)dcm.yaw_sensor / 100,
-						gyro.x, gyro.y, gyro.z,
-						accel.x, accel.y, accel.z,
-						(1.0e6*counter)/(now-last_print));
-		last_print = now;
-		counter = 0;
-	}
-}

libraries/AP_AHRS/examples/DCM_Test/Makefile

@@ -1,4 +0,0 @@
-include ../../../AP_Common/Arduino.mk
-
-sitl:
-	make -f ../../../../libraries/Desktop/Desktop.mk