diff --git a/scripts/sensor_validator.py b/scripts/sensor_validator.py
deleted file mode 100644
index 288a7af..0000000
--- a/scripts/sensor_validator.py
+++ /dev/null
@@ -1,100 +0,0 @@
-import sys
-import os
-import rospy
-import signal
-import numpy as np
-from sensor_msgs.msg import Range
-from geometry_msgs.msg import TwistStamped
-from pidrone_pkg.msg import State
-
-
-class SensorValidator(object):
-    """A class that validates IR sensor and Camera sensor inputs while the
-       drone is flying.
-
-       The validation is based on the assumption that the sensor measurements
-       should be nonhomogeneous over a set of consecutive samples. The size of
-       the set is a parameter that is tuned to be as small as possible without
-       causing interuptions when the sensors are operating correctly.
-
-    Subscriber:
-    /pidrone/picamera/twist
-    /pidrone/infrared
-    """
-
-    def __init__(self):
-        # variables to store whether the sensors are erroring
-        self.error_ir = True
-        self.error_camera = True
-        # the number of sufficient readings for which a nonhomgeneity is
-        # guarenteed under correct sensor operation
-        # TODO: experiment with numbers. Use probability?
-        # TODO: check if the slow takeoffs messes this up if the drone is on
-        # the ground, then the range value won't change
-        self.CUTOFF_IR = 50
-        self.CUTOFF_CAMERA = 10
-        
-        # create the numpy arrays to store previous sensor values
-        self.history_ir = np.zeros(self.CUTOFF_IR, dtype=float)
-        self.history_camera = np.zeros((2, self.CUTOFF_CAMERA), dtype=float)
-        # iterators to move through the array and replace the oldest values
-        self.i_ir = 0
-        self.i_camera = 0
-        self.i_camera_zero = 0
-        # strings to identify the source of a system shutdown signal
-        self.shutdown_string_ir = ("Safety Failure: The range measurements are not changing. "
-                                   "\nPlease verify that the IR sensor is functioning properly.")
-        self.shutdown_string_camera = ("Safety Failure: The velocity measurements are not changing."
-                                       "\nPlease verify that the Camera sensor is functioning properly.")
-        # store the height of the drone so that safety logic can distinguish
-        # when the drone is on the ground vs in the air
-        self.altitude = 0.0
-        # the height of the drone when it is considered to be in the air
-        self.flying_altitude = 0.2
-
-        # node_name = os.path.splitext(os.path.basename(__file__))[0]
-        # rospy.init_node(node_name)
-        # Subscribers
-        ############
-        rospy.Subscriber('/pidrone/picamera/twist', TwistStamped, self.camera_callback)
-        rospy.Subscriber('/pidrone/infrared', Range, self.infrared_callback)
-        rospy.Subscriber('/pidrone/state', State, self.state_callback)
-
-
-    def get_errors(self):
-        if self.error_ir:
-            return self.shutdown_string_ir
-        elif self.error_camera:
-            return self.shutdown_string_camera
-        else:
-            return None
-
-    def increment_iterator(self, iterator, array_size):
-        return (iterator + 1) % array_size
-
-    def state_callback(self, msg):
-        self.altitude = msg.pose_with_covariance.pose.position.z
-
-    def infrared_callback(self, msg):
-        self.history_ir[self.i_ir] = msg.range
-        self.i_ir = self.increment_iterator(self.i_ir, self.CUTOFF_IR)
-        if np.all(self.history_ir == self.history_ir[0]):
-            self.error_ir = True
-        else:
-            self.error_ir = False
-
-    def camera_callback(self, msg):
-        # x and y must be compared individually because if the camera cuts out
-        # mid-flight, then the previous values for each are held
-        x = msg.twist.linear.x
-        y = msg.twist.linear.y
-        self.history_camera[0, self.i_camera] = x
-        self.history_camera[1, self.i_camera] = y
-        self.i_camera = self.increment_iterator(self.i_camera, self.CUTOFF_CAMERA)
-        # check for repeated measurements of non-zero values
-        if not ((abs(x) == 0.0) or (abs(y) == 0.0)):
-            if (np.all(self.history_camera[0, :] == x) or
-                    np.all(self.history_camera[1, :] == y)):
-                self.error_camera = True
-            else:
-                self.error_camera = False