diff --git a/component-overrides.xml b/component-overrides.xml
index 350b061..fc2529b 100644
--- a/component-overrides.xml
+++ b/component-overrides.xml
@@ -15,4 +15,7 @@
+
+
+
diff --git a/sensors/Android.mk b/sensors/Android.mk
deleted file mode 100644
index 4c5ac47..0000000
--- a/sensors/Android.mk
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright (C) 2009 The Android Open Source Project
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-LOCAL_PATH := $(call my-dir)
-
-# HAL module implemenation stored in
-# hw/..so
-include $(CLEAR_VARS)
-
-LOCAL_MODULE_RELATIVE_PATH := hw
-LOCAL_SHARED_LIBRARIES := liblog libcutils libhardware
-LOCAL_SRC_FILES := sensors_dummy.c
-LOCAL_MODULE := sensors.tangorpro
-LOCAL_LICENSE_KINDS := SPDX-license-identifier-Apache-2.0
-LOCAL_LICENSE_CONDITIONS := notice
-LOCAL_NOTICE_FILE := $(LOCAL_PATH)/../NOTICE
-LOCAL_PROPRIETARY_MODULE := true
-
-include $(BUILD_SHARED_LIBRARY)
diff --git a/sensors/sensors_dummy.c b/sensors/sensors_dummy.c
deleted file mode 100644
index b1edd56..0000000
--- a/sensors/sensors_dummy.c
+++ /dev/null
@@ -1,409 +0,0 @@
-/*
- * Copyright (C) 2009 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/* this implements a sensors hardware library for the Android emulator.
- * the following code should be built as a shared library that will be
- * placed into /system/lib/hw/sensors.goldfish.so
- *
- * it will be loaded by the code in hardware/libhardware/hardware.c
- * which is itself called from com_android_server_SensorService.cpp
- */
-
-#define SENSORS_SERVICE_NAME "sensors"
-
-#define LOG_TAG "Dummy_Sensors"
-
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-#include
-
-#if 0
-#define D(...) ALOGD(__VA_ARGS__)
-#else
-#define D(...) ((void)0)
-#endif
-
-#define E(...) ALOGE(__VA_ARGS__)
-
-/** SENSOR IDS AND NAMES
- **/
-
-#define MAX_NUM_SENSORS 8
-
-#define SUPPORTED_SENSORS ((1<";
-}
-
-static int
-_sensorIdFromName( const char* name )
-{
- int nn;
-
- if (name == NULL)
- return -1;
-
- for (nn = 0; nn < MAX_NUM_SENSORS; nn++)
- if (!strcmp(name, _sensorIds[nn].name))
- return _sensorIds[nn].id;
-
- return -1;
-}
-
-/* return the current time in nanoseconds */
-static int64_t now_ns(void) {
- struct timespec ts;
- clock_gettime(CLOCK_MONOTONIC, &ts);
- return (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec;
-}
-
-/** SENSORS POLL DEVICE
- **
- ** This one is used to read sensor data from the hardware.
- ** We implement this by simply reading the data from the
- ** emulator through the QEMUD channel.
- **/
-
-typedef struct SensorDevice {
- struct sensors_poll_device_1 device;
- sensors_event_t sensors[MAX_NUM_SENSORS];
- uint32_t pendingSensors;
- int64_t timeStart;
- int64_t timeOffset;
- uint32_t active_sensors;
- int fd;
- pthread_mutex_t lock;
-} SensorDevice;
-
-/* Grab the file descriptor to the emulator's sensors service pipe.
- * This function returns a file descriptor on success, or -errno on
- * failure, and assumes the SensorDevice instance's lock is held.
- *
- * This is needed because set_delay(), poll() and activate() can be called
- * from different threads, and poll() is blocking.
- *
- * 1) On a first thread, de-activate() all sensors first, then call poll(),
- * which results in the thread blocking.
- *
- * 2) On a second thread, slightly later, call set_delay() then activate()
- * to enable the acceleration sensor.
- *
- * The system expects this to unblock the first thread which will receive
- * new sensor events after the activate() call in 2).
- *
- * This cannot work if both threads don't use the same connection.
- *
- * TODO(digit): This protocol is brittle, implement another control channel
- * for set_delay()/activate()/batch() when supporting HAL 1.3
- */
-static int sensor_device_get_fd_locked(SensorDevice* dev) {
- /* Create connection to service on first call */
- if (dev->fd < 0) {
- int ret = -errno;
- E("%s: Could not open connection to service: %s", __FUNCTION__,
- strerror(-ret));
- return ret;
- }
- return dev->fd;
-}
-
-/* Pick up one pending sensor event. On success, this returns the sensor
- * id, and sets |*event| accordingly. On failure, i.e. if there are no
- * pending events, return -EINVAL.
- *
- * Note: The device's lock must be acquired.
- */
-static int sensor_device_pick_pending_event_locked(SensorDevice* d,
- sensors_event_t* event)
-{
- uint32_t mask = SUPPORTED_SENSORS & d->pendingSensors;
-
- if (mask) {
- uint32_t i = 31 - __builtin_clz(mask);
-
- pthread_mutex_lock(&d->lock);
- d->pendingSensors &= ~(1U << i);
- *event = d->sensors[i];
- event->sensor = i;
- event->version = sizeof(*event);
- pthread_mutex_unlock(&d->lock);
- D("%s: %d [%f, %f, %f]", __FUNCTION__,
- i,
- event->data[0],
- event->data[1],
- event->data[2]);
- return i;
- }
- E("No sensor to return!!! pendingSensors=0x%08x", d->pendingSensors);
- // we may end-up in a busy loop, slow things down, just in case.
- usleep(1000);
- return -EINVAL;
-}
-
-static int sensor_device_close(struct hw_device_t* dev0)
-{
- SensorDevice* dev = (void*)dev0;
- // Assume that there are no other threads blocked on poll()
- if (dev->fd >= 0) {
- close(dev->fd);
- dev->fd = -1;
- }
- pthread_mutex_destroy(&dev->lock);
- free(dev);
- return 0;
-}
-
-/* Return an array of sensor data. This function blocks until there is sensor
- * related events to report. On success, it will write the events into the
- * |data| array, which contains |count| items. The function returns the number
- * of events written into the array, which shall never be greater than |count|.
- * On error, return -errno code.
- *
- * Note that according to the sensor HAL [1], it shall never return 0!
- *
- * [1] http://source.android.com/devices/sensors/hal-interface.html
- */
-static int sensor_device_poll(struct sensors_poll_device_t *dev0,
- sensors_event_t* data, int count)
-{
- return -EIO;
-}
-
-static int sensor_device_activate(struct sensors_poll_device_t *dev0,
- int handle,
- int enabled)
-{
- SensorDevice* dev = (void*)dev0;
-
- D("%s: handle=%s (%d) enabled=%d", __FUNCTION__,
- _sensorIdToName(handle), handle, enabled);
-
- /* Sanity check */
- if (!ID_CHECK(handle)) {
- E("%s: bad handle ID", __FUNCTION__);
- return -EINVAL;
- }
-
- /* Exit early if sensor is already enabled/disabled. */
- uint32_t mask = (1U << handle);
- uint32_t sensors = enabled ? mask : 0;
-
- pthread_mutex_lock(&dev->lock);
-
- uint32_t active = dev->active_sensors;
- uint32_t new_sensors = (active & ~mask) | (sensors & mask);
- uint32_t changed = active ^ new_sensors;
-
- if (changed)
- dev->active_sensors = new_sensors;
-
- pthread_mutex_unlock(&dev->lock);
- return 0;
-}
-
-static int sensor_device_default_flush(
- struct sensors_poll_device_1* dev0,
- int handle) {
-
- SensorDevice* dev = (void*)dev0;
-
- D("%s: handle=%s (%d)", __FUNCTION__,
- _sensorIdToName(handle), handle);
-
- /* Sanity check */
- if (!ID_CHECK(handle)) {
- E("%s: bad handle ID", __FUNCTION__);
- return -EINVAL;
- }
-
- pthread_mutex_lock(&dev->lock);
- dev->sensors[handle].version = META_DATA_VERSION;
- dev->sensors[handle].type = SENSOR_TYPE_META_DATA;
- dev->sensors[handle].sensor = 0;
- dev->sensors[handle].timestamp = 0;
- dev->sensors[handle].meta_data.what = META_DATA_FLUSH_COMPLETE;
- dev->pendingSensors |= (1U << handle);
- pthread_mutex_unlock(&dev->lock);
-
- return 0;
-}
-
-static int sensor_device_set_delay(struct sensors_poll_device_t *dev0,
- int handle __unused,
- int64_t ns)
-{
- return 0;
-}
-
-static int sensor_device_default_batch(
- struct sensors_poll_device_1* dev,
- int sensor_handle,
- int flags,
- int64_t sampling_period_ns,
- int64_t max_report_latency_ns) {
- return sensor_device_set_delay(dev, sensor_handle, sampling_period_ns);
-}
-
-/** MODULE REGISTRATION SUPPORT
- **
- ** This is required so that hardware/libhardware/hardware.c
- ** will dlopen() this library appropriately.
- **/
-
-/*
- * the following is the list of all supported sensors.
- * this table is used to build sSensorList declared below
- * according to which hardware sensors are reported as
- * available from the emulator (see get_sensors_list below)
- *
- * note: numerical values for maxRange/resolution/power for
- * all sensors but light, pressure and humidity were
- * taken from the reference AK8976A implementation
- */
-static const struct sensor_t sSensorListInit[] = {
- { .name = "Accelerometer",
- .vendor = "The Android Open Source Project",
- .version = 1,
- .handle = ID_ACCELERATION,
- .type = SENSOR_TYPE_ACCELEROMETER,
- .maxRange = 2.8f,
- .resolution = 1.0f/4032.0f,
- .power = 3.0f,
- .minDelay = 10000,
- .maxDelay = 60 * 1000 * 1000,
- .fifoReservedEventCount = 0,
- .fifoMaxEventCount = 0,
- .stringType = 0,
- .requiredPermission = 0,
- .flags = SENSOR_FLAG_CONTINUOUS_MODE,
- .reserved = {}
- },
-};
-
-static struct sensor_t sSensorList[1];
-
-static int sensors__get_sensors_list(struct sensors_module_t* module __unused,
- struct sensor_t const** list)
-{
- *list = sSensorList;
-
- return 0;
-}
-
-static int
-open_sensors(const struct hw_module_t* module,
- const char* name,
- struct hw_device_t* *device)
-{
- int status = -EINVAL;
-
- D("%s: name=%s", __FUNCTION__, name);
-
- if (!strcmp(name, SENSORS_HARDWARE_POLL)) {
- SensorDevice *dev = malloc(sizeof(*dev));
-
- memset(dev, 0, sizeof(*dev));
-
- dev->device.common.tag = HARDWARE_DEVICE_TAG;
- dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_3;
- dev->device.common.module = (struct hw_module_t*) module;
- dev->device.common.close = sensor_device_close;
- dev->device.poll = sensor_device_poll;
- dev->device.activate = sensor_device_activate;
- dev->device.setDelay = sensor_device_set_delay;
-
- // Version 1.3-specific functions
- dev->device.batch = sensor_device_default_batch;
- dev->device.flush = sensor_device_default_flush;
-
- dev->fd = -1;
- pthread_mutex_init(&dev->lock, NULL);
-
- *device = &dev->device.common;
- status = 0;
- }
- return status;
-}
-
-
-static struct hw_module_methods_t sensors_module_methods = {
- .open = open_sensors
-};
-
-struct sensors_module_t HAL_MODULE_INFO_SYM = {
- .common = {
- .tag = HARDWARE_MODULE_TAG,
- .version_major = 1,
- .version_minor = 0,
- .id = SENSORS_HARDWARE_MODULE_ID,
- .name = "Dummy SENSORS Module",
- .author = "The Android Open Source Project",
- .methods = &sensors_module_methods,
- },
- .get_sensors_list = sensors__get_sensors_list
-};
diff --git a/uwb/UWB-calibration.conf b/uwb/UWB-calibration.conf
index 155fac7..e930cf1 100644
--- a/uwb/UWB-calibration.conf
+++ b/uwb/UWB-calibration.conf
@@ -92,12 +92,12 @@ ant0.ant1.ch5.pdoa_offset=0
ant0.ant1.ch9.pdoa_offset=0
ant0.ant2.ch5.pdoa_offset=0
ant0.ant2.ch9.pdoa_offset=0
-ant1.ant2.ch5.pdoa_offset=2173
-ant1.ant2.ch9.pdoa_offset=3555
+ant1.ant2.ch5.pdoa_offset=0
+ant1.ant2.ch9.pdoa_offset=0
ant0.ant3.ch5.pdoa_offset=0
ant0.ant3.ch9.pdoa_offset=0
-ant1.ant3.ch5.pdoa_offset=3845
-ant1.ant3.ch9.pdoa_offset=647
+ant1.ant3.ch5.pdoa_offset=0
+ant1.ant3.ch9.pdoa_offset=0
ant2.ant3.ch5.pdoa_offset=0
ant2.ant3.ch9.pdoa_offset=0
ch5.pll_locking_code=0