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

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This reverts commit 91ae41f9ef.

We do not need this as outputs already are written to the property
tree and most intermediate values can easily be calculated
manually.
This commit is contained in:
Thomas Geymayer 2013-06-18 19:58:28 +02:00
parent 91ae41f9ef
commit 470a551176
6 changed files with 6 additions and 58 deletions
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3
src/Autopilot/analogcomponent.hxx
View file

@ -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:

5
src/Autopilot/component.cxx
View file

@ -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;

5
src/Autopilot/component.hxx
View file

@ -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

3
src/Autopilot/digitalfilter.cxx
View file

@ -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);
}

39
src/Autopilot/pidcontroller.cxx
View file

@ -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;

9
src/Autopilot/pisimplecontroller.cxx
View file

@ -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);
}
}