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

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.

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:

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;
 

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

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);
 }

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),
+          if ( _debug ) {
-                 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 )
-          {
               cout << " delta_u_n = " << delta_u_n << endl;
-              cout << "P:" << Pn << " I:" << In << " D:" << Dn << endl;
+              cout << "P:" << Kp.get_value() * (ep_n - ep_n_1)
-          }
+                   << " I:" << Kp.get_value() * ((Ts/ti) * e_n)
-          if( _debug_node )
+                   << " D:" << Kp.get_value() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
-          {
+                   << endl;
-            _debug_node->setDoubleValue("Pn", Pn);
+        }
-            _debug_node->setDoubleValue("In", In);
-            _debug_node->setDoubleValue("Dn", Dn);
-          }
         }
 
         // 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;

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);
-    }
 }