diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
deleted file mode 100644
index 429b2441d4..0000000000
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-#if 0
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-/*
- 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, see .
- */
-
-/*
- * AP_RangeFinder_MaxsonarXL.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
- * infrared proximity sensor
- * Code by Jose Julio and Randy Mackay. DIYDrones.com
- *
- * Sparkfun URL: http://www.sparkfun.com/products/9491
- * datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf
- *
- * Sensor should be connected to one of the analog ports
- *
- * Variables:
- * int distance : distance in cm
- * int max_distance : maximum measurable distance (in cm)
- * int min_distance : minimum measurable distance (in cm)
- *
- * Methods:
- * read() : read value from analog port and returns the distance (in cm)
- *
- */
-
-#include "AP_RangeFinder_MaxsonarXL.h"
-
-// Constructor //////////////////////////////////////////////////////////////
-
-AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *source, FilterInt16 *filter) :
- RangeFinder(source, filter),
- _scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
-{
- max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
- min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-float AP_RangeFinder_MaxsonarXL::calculate_scaler(int16_t sonar_type, float adc_refence_voltage)
-{
- float type_scaler = 1.0f;
- switch(sonar_type) {
- case AP_RANGEFINDER_MAXSONARXL:
- type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
- min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
- max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
- break;
- case AP_RANGEFINDER_MAXSONARLV:
- type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
- min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
- max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
- break;
- case AP_RANGEFINDER_MAXSONARXLL:
- type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
- min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
- max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
- break;
- case AP_RANGEFINDER_MAXSONARHRLV:
- type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
- min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
- max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
- break;
- }
- _scaler = type_scaler * adc_refence_voltage / 5.0f;
- return _scaler;
-}
-
-#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
deleted file mode 100644
index b3da58a9ef..0000000000
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#ifndef __AP_RangeFinder_MaxsonarXL_H__
-#define __AP_RangeFinder_MaxsonarXL_H__
-
-#include "RangeFinder.h"
-
-// XL-EZ0 (aka XL)
-#define AP_RANGEFINDER_MAXSONARXL 0
-#define AP_RANGEFINDER_MAXSONARXL_SCALER 1.0
-#define AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE 20
-#define AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE 765
-
-// LV-EZ0 (aka LV)
-#define AP_RANGEFINDER_MAXSONARLV 1
-#define AP_RANGEFINDER_MAXSONARLV_SCALER (2.54/2.0)
-#define AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE 15
-#define AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE 645
-
-// XL-EZL0 (aka XLL)
-#define AP_RANGEFINDER_MAXSONARXLL 2
-#define AP_RANGEFINDER_MAXSONARXLL_SCALER 2.0
-#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
-#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
-
-// HRLV-MaxSonar-EZ0 (aka HRLV)
-#define AP_RANGEFINDER_MAXSONARHRLV 3
-#define AP_RANGEFINDER_MAXSONARHRLV_SCALER 0.512
-#define AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE 30
-#define AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE 500
-
-class AP_RangeFinder_MaxsonarXL : public RangeFinder
-{
-public:
- AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *source, FilterInt16 *filter);
- int16_t convert_raw_to_distance(int16_t raw_value) {
- return raw_value * _scaler;
- } // read value from analog port and return distance in cm
- float calculate_scaler(int16_t sonar_type, float adc_refence_voltage);
-
-private:
- float _scaler; // used to account for different sonar types
-};
-#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
deleted file mode 100644
index d9056d7a76..0000000000
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-#if 0
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-/*
- 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, see .
- */
-
-/*
- * AP_RangeFinder_SharpGP2Y.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
- * infrared proximity sensor
- * Code by Jose Julio and Randy Mackay. DIYDrones.com
- *
- * Sensor should be conected to one of the analog ports
- *
- * Sparkfun URL: http://www.sparkfun.com/products/8958
- * datasheet: http://www.sparkfun.com/datasheets/Sensors/Infrared/gp2y0a02yk_e.pdf
- *
- * Variables:
- * int raw_value : raw value from the sensor
- * int distance : distance in cm
- * int max_distance : maximum measurable distance (in cm)
- * int min_distance : minimum measurable distance (in cm)
- *
- * Methods:
- * read() : read value from analog port
- *
- */
-
-#include "AP_RangeFinder_SharpGP2Y.h"
-
-// Constructor //////////////////////////////////////////////////////////////
-
-AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_HAL::AnalogSource *source, FilterInt16 *filter) :
- RangeFinder(source, filter)
-{
- max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;
- min_distance = AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE;
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h b/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
deleted file mode 100644
index ab7fde8ebf..0000000000
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef __AP_RangeFinder_SharpGP2Y_H__
-#define __AP_RangeFinder_SharpGP2Y_H__
-
-#include "RangeFinder.h"
-
-#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
-#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
-
-class AP_RangeFinder_SharpGP2Y : public RangeFinder
-{
-public:
- AP_RangeFinder_SharpGP2Y(AP_HAL::AnalogSource *source, FilterInt16 *filter);
- int16_t convert_raw_to_distance(int16_t raw_value) {
- if (raw_value == 0) {
- return max_distance;
- } else {
- return 14500/raw_value;
- }
- } // read value from analog port and return distance in cm
-
-};
-#endif
diff --git a/libraries/AP_RangeFinder/keywords.txt b/libraries/AP_RangeFinder/keywords.txt
deleted file mode 100644
index b8abff90b0..0000000000
--- a/libraries/AP_RangeFinder/keywords.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-RangeFinder KEYWORD1
-AP_RangeFinder KEYWORD1
-AP_RangeFinder_SharpGP2Y KEYWORD1
-AP_RangeFinder_MaxsonarXL KEYWORD1
-read KEYWORD2
-set_orientation KEYWORD2
-convert_raw_to_distance KEYWORD2
-raw_value KEYWORD2
-distance KEYWORD2
-max_distance KEYWORD2
-min_distance KEYWORD2
-orientation_x KEYWORD2
-orientation_y KEYWORD2
-orientation_z KEYWORD2
\ No newline at end of file