From 7afb2113307fb4eb0200f8a0ad3a8f443bf3d323 Mon Sep 17 00:00:00 2001
From: Stefan Karlsson <stefan.karlsson@gmail.com>
Date: Wed, 10 Sep 2014 00:42:40 +0200
Subject: [PATCH] OP-1474 Revert TPS debugging code

---
 flight/modules/Stabilization/innerloop.c      | 24 -------------------
 .../boards/coptercontrol/firmware/Makefile    |  1 -
 .../discoveryf4bare/firmware/UAVObjects.inc   |  1 -
 .../boards/revolution/firmware/UAVObjects.inc |  1 -
 .../boards/revoproto/firmware/UAVObjects.inc  |  1 -
 .../boards/simposix/firmware/UAVObjects.inc   |  1 -
 .../src/plugins/uavobjects/uavobjects.pro     |  6 ++---
 shared/uavobjectdefinition/tpsdebug.xml       | 15 ------------
 8 files changed, 2 insertions(+), 48 deletions(-)
 delete mode 100644 shared/uavobjectdefinition/tpsdebug.xml

diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c
index 3b0e4cc4b..3ce0fb4e5 100644
--- a/flight/modules/Stabilization/innerloop.c
+++ b/flight/modules/Stabilization/innerloop.c
@@ -44,8 +44,6 @@
 #include <stabilizationbank.h>
 #include <stabilizationdesired.h>
 #include <actuatordesired.h>
-#include <tpsdebug.h>
-#include <pid.h> // FIXME: Temporary debugging
 
 #include <stabilization.h>
 #include <relay_tuning.h>
@@ -86,7 +84,6 @@ void stabilizationInnerloopInit()
     ManualControlCommandInitialize();
     StabilizationDesiredInitialize();
     ActuatorDesiredInitialize();
-    TPSDebugInitialize();
 #ifdef REVOLUTION
     AirspeedStateInitialize();
     AirspeedStateConnectCallback(AirSpeedUpdatedCb);
@@ -143,27 +140,6 @@ static inline pid_scaler create_pid_scaler()
         }
     };
 
-    // FIXME: Temporary debugging
-    static int pidDebugCount = 0;
-
-    pidDebugCount++;
-    if (pidDebugCount == 100) {
-        struct pid *pid = &stabSettings.innerPids[0];
-
-        TPSDebugData tpsDebug;
-        TPSDebugGet(&tpsDebug);
-
-        tpsDebug.thrust   = scaler.x;
-        tpsDebug.p = pid->p;
-        tpsDebug.d = pid->d;
-        tpsDebug.factor   = pid_scale_factor(&scaler);
-        tpsDebug.p_scaled = tpsDebug.p * tpsDebug.factor;
-        tpsDebug.d_scaled = tpsDebug.d * tpsDebug.factor;
-
-        TPSDebugSet(&tpsDebug);
-        pidDebugCount     = 0;
-    }
-
     return scaler;
 }
 
diff --git a/flight/targets/boards/coptercontrol/firmware/Makefile b/flight/targets/boards/coptercontrol/firmware/Makefile
index 96fb220bc..7a5a7e90f 100644
--- a/flight/targets/boards/coptercontrol/firmware/Makefile
+++ b/flight/targets/boards/coptercontrol/firmware/Makefile
@@ -128,7 +128,6 @@ ifndef TESTAPP
     SRC += $(OPUAVSYNTHDIR)/airspeedstate.c
     SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
     SRC += $(OPUAVSYNTHDIR)/perfcounter.c
-    SRC += $(OPUAVSYNTHDIR)/tpsdebug.c
 else
     ## Test Code
     SRC += $(OPTESTS)/test_common.c
diff --git a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
index c98c9fd71..49867c39e 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
+++ b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
@@ -115,7 +115,6 @@ UAVOBJSRCFILENAMES += mpu6000settings
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter
-UAVOBJSRCFILENAMES += tpsdebug
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
diff --git a/flight/targets/boards/revolution/firmware/UAVObjects.inc b/flight/targets/boards/revolution/firmware/UAVObjects.inc
index c98c9fd71..49867c39e 100644
--- a/flight/targets/boards/revolution/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revolution/firmware/UAVObjects.inc
@@ -115,7 +115,6 @@ UAVOBJSRCFILENAMES += mpu6000settings
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter
-UAVOBJSRCFILENAMES += tpsdebug
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
diff --git a/flight/targets/boards/revoproto/firmware/UAVObjects.inc b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
index 40db9d9d2..3905af42f 100644
--- a/flight/targets/boards/revoproto/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
@@ -114,7 +114,6 @@ UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpu6000settings
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += takeofflocation
-UAVOBJSRCFILENAMES += tpsdebug
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
diff --git a/flight/targets/boards/simposix/firmware/UAVObjects.inc b/flight/targets/boards/simposix/firmware/UAVObjects.inc
index 2e9eda147..907ff6833 100644
--- a/flight/targets/boards/simposix/firmware/UAVObjects.inc
+++ b/flight/targets/boards/simposix/firmware/UAVObjects.inc
@@ -112,7 +112,6 @@ UAVOBJSRCFILENAMES += altitudeholdstatus
 UAVOBJSRCFILENAMES += ekfconfiguration
 UAVOBJSRCFILENAMES += ekfstatevariance
 UAVOBJSRCFILENAMES += takeofflocation
-UAVOBJSRCFILENAMES += tpsdebug
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 1435e7deb..0f08a3536 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -127,8 +127,7 @@ HEADERS += \
     $$UAVOBJECT_SYNTHETICS/waypointactive.h \
     $$UAVOBJECT_SYNTHETICS/mpu6000settings.h \
     $$UAVOBJECT_SYNTHETICS/takeofflocation.h \
-    $$UAVOBJECT_SYNTHETICS/perfcounter.h \
-    $$UAVOBJECT_SYNTHETICS/tpsdebug.h
+    $$UAVOBJECT_SYNTHETICS/perfcounter.h
 
 SOURCES += \
     $$UAVOBJECT_SYNTHETICS/accelgyrosettings.cpp \
@@ -232,6 +231,5 @@ SOURCES += \
     $$UAVOBJECT_SYNTHETICS/waypointactive.cpp \
     $$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \
     $$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \
-    $$UAVOBJECT_SYNTHETICS/perfcounter.cpp \
-    $$UAVOBJECT_SYNTHETICS/tpsdebug.cpp
+    $$UAVOBJECT_SYNTHETICS/perfcounter.cpp
     
diff --git a/shared/uavobjectdefinition/tpsdebug.xml b/shared/uavobjectdefinition/tpsdebug.xml
deleted file mode 100644
index dcc34255f..000000000
--- a/shared/uavobjectdefinition/tpsdebug.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<xml>
-    <object name="TPSDebug" singleinstance="true" settings="false" category="State">
-        <description>Debugging of the @ref Thrust PID Scale module</description>
-        <field name="thrust" units="ratio" type="float" elements="1" defaultvalue="0" />
-        <field name="factor" units="ratio" type="float" elements="1" defaultvalue="0" />
-        <field name="p" units="ratio" type="float" elements="1" defaultvalue="0" />
-        <field name="p_scaled" units="ratio" type="float" elements="1" defaultvalue="0" />
-        <field name="d" units="ratio" type="float" elements="1" defaultvalue="0" />
-        <field name="d_scaled" units="ratio" type="float" elements="1" defaultvalue="0" />
-        <access gcs="readwrite" flight="readwrite"/>
-        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
-        <telemetryflight acked="true" updatemode="onchange" period="0"/>
-        <logging updatemode="manual" period="0"/>
-    </object>
-</xml>