Revert "Autopilot: Optionally write (internal) state to property tree"

This reverts commit 91ae41f9ef5139b7bb9595a67f986dbe2b10be4a.

We do not need this as outputs already are written to the property
tree and most intermediate values can easily be calculated
manually.

diff --git a/src/Autopilot/analogcomponent.hxx b/src/Autopilot/analogcomponent.hxx
index 7563c27b9cf725f4d724275b07165ea0ade4f07c..fc658befe287d38fffc9f4bbdac89c3bb6b3a7fa 100644 (file)
--- a/src/Autopilot/analogcomponent.hxx
+++ b/src/Autopilot/analogcomponent.hxx
@@ -132,9 +132,6 @@ protected:
         for( simgear::PropertyList::iterator it = _output_list.begin();
              it != _output_list.end(); ++it)
           (*it)->setDoubleValue( value );
-
-        if( _debug_node )
-          _debug_node->setDoubleValue("Un", value);
     }
 
 public:

diff --git a/src/Autopilot/component.cxx b/src/Autopilot/component.cxx
index d3aa1b661d96e3e74df5af30826605ac7d9ae334..f1c2894123ba25e34d3bf44cc7b6d5e6bf5aaafd 100644 (file)
--- a/src/Autopilot/component.cxx
+++ b/src/Autopilot/component.cxx
@@ -70,11 +70,6 @@ bool Component::configure( const std::string & nodeName, SGPropertyNode_ptr conf
     return true;
   }
 
-  if ( nodeName == "debug-node" ) {
-    _debug_node = fgGetNode( configNode->getStringValue(), true );
-    return true;
-  }
-
   if ( nodeName == "enable" ) {
     SGPropertyNode_ptr prop;
 

diff --git a/src/Autopilot/component.hxx b/src/Autopilot/component.hxx
index 7caea837098d9bc2553ad80c0362794ea51e2d6e..cf8634a4a4412316ecf8cda858a0206359eef63c 100644 (file)
--- a/src/Autopilot/component.hxx
+++ b/src/Autopilot/component.hxx
@@ -77,11 +77,6 @@ protected:
      */
     bool _debug;
 
-    /**
-     * @brief property node to write debug values in child nodes on every
-     *        iteration
-     */
-    SGPropertyNode_ptr _debug_node;
 
     /** 
      * @brief a (historic) flag signalling the derived class that it should compute it's internal

diff --git a/src/Autopilot/digitalfilter.cxx b/src/Autopilot/digitalfilter.cxx
index 06c991ecc345621713c1a04537c2131bc298bbef..d0e4b9423ef3197c4004fdd65fb341063d426ec1 100644 (file)
--- a/src/Autopilot/digitalfilter.cxx
+++ b/src/Autopilot/digitalfilter.cxx
@@ -431,7 +431,4 @@ void DigitalFilter::update( bool firstTime, double dt)
     cout << "input:" << input
          << "\toutput:" << output << endl;
   }
-
-  if( _debug_node )
-    _debug_node->setDoubleValue("input", input);
 }

diff --git a/src/Autopilot/pidcontroller.cxx b/src/Autopilot/pidcontroller.cxx
index 7438d2707460db03f938d5a5d99ef73b5403ed43..d41608c09cab6ec59bafeef04cd51b096a2bfd43 100644 (file)
--- a/src/Autopilot/pidcontroller.cxx
+++ b/src/Autopilot/pidcontroller.cxx
@@ -137,16 +137,6 @@ void PIDController::update( bool firstTime, double dt )
         double e_n = r_n - y_n;
         if ( _debug ) cout << " e_n = " << e_n;
 
-        if( _debug_node )
-        {
-          _debug_node->setDoubleValue("Ts", Ts);
-          _debug_node->setDoubleValue("y_n", y_n);
-          _debug_node->setDoubleValue("r_n", r_n);
-          _debug_node->setDoubleValue("ep_n", ep_n);
-          _debug_node->setDoubleValue("ep_n_1", ep_n_1);
-          _debug_node->setDoubleValue("e_n", e_n);
-        }
-
         double td = Td.get_value();
         if ( td > 0.0 ) { // do we need to calcluate derivative error?
 
@@ -162,13 +152,6 @@ void PIDController::update( bool firstTime, double dt )
             edf_n = edf_n_1 / (Ts/Tf + 1)
                 + ed_n * (Ts/Tf) / (Ts/Tf + 1);
             if ( _debug ) cout << " edf_n = " << edf_n;
-
-            if( _debug_node )
-            {
-              _debug_node->setDoubleValue("ed_n", ed_n);
-              _debug_node->setDoubleValue("Tf", Tf);
-              _debug_node->setDoubleValue("edf_n", edf_n);
-            }
         } else {
             edf_n_2 = edf_n_1 = edf_n = 0.0;
         }
@@ -181,20 +164,13 @@ void PIDController::update( bool firstTime, double dt )
                                + ((Ts/ti) * e_n)
                                + ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
 
-          double Pn = Kp.get_value() * (ep_n - ep_n_1),
-                 In = Kp.get_value() * ((Ts/ti) * e_n),
-                 Dn = Kp.get_value() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2));
-          if ( _debug )
-          {
+          if ( _debug ) {
               cout << " delta_u_n = " << delta_u_n << endl;
-              cout << "P:" << Pn << " I:" << In << " D:" << Dn << endl;
-          }
-          if( _debug_node )
-          {
-            _debug_node->setDoubleValue("Pn", Pn);
-            _debug_node->setDoubleValue("In", In);
-            _debug_node->setDoubleValue("Dn", Dn);
-          }
+              cout << "P:" << Kp.get_value() * (ep_n - ep_n_1)
+                   << " I:" << Kp.get_value() * ((Ts/ti) * e_n)
+                   << " D:" << Kp.get_value() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
+                   << endl;
+        }
         }
 
         // Integrator anti-windup logic:
@@ -210,9 +186,6 @@ void PIDController::update( bool firstTime, double dt )
         u_n = u_n_1 + delta_u_n;
         if ( _debug ) cout << "  output = " << u_n << endl;
 
-        if( _debug_node )
-          _debug_node->setDoubleValue("dU", delta_u_n);
-
         // Updates indexed values;
         u_n_1   = u_n;
         ep_n_1  = ep_n;

diff --git a/src/Autopilot/pisimplecontroller.cxx b/src/Autopilot/pisimplecontroller.cxx
index c656f127b23462090ea266bf8170b3c097060305..c332606988253b617a0af305a4947d4a71d15a14 100644 (file)
--- a/src/Autopilot/pisimplecontroller.cxx
+++ b/src/Autopilot/pisimplecontroller.cxx
@@ -88,13 +88,4 @@ void PISimpleController::update( bool firstTime, double dt )
 
     set_output_value( clamped_output );
     if ( _debug ) cout << "output = " << clamped_output << endl;
-
-    if( _debug_node )
-    {
-      _debug_node->setDoubleValue("y_n", y_n);
-      _debug_node->setDoubleValue("r_n", r_n);
-      _debug_node->setDoubleValue("e_n", error);
-      _debug_node->setDoubleValue("ep_n", prop_comp);
-      _debug_node->setDoubleValue("In", _int_sum);
-    }
 }