Idea Shuttle Fleet recompile for Orbiter 2016

[Donamy]

Where is the translation on the dialog box ?

 

[gattispilot]

That is sf not mine

 

[Donamy]

Ah, ok.

 

[gattispilot]

Here you go.

I am still not sure if I can make my rms switch reference points.

VECTOR3 Atlantis::CalcAnimationFKArm() {
	//Do forward kinematics to get the current position of the wrist joint
	double current_phi_s = linterp(0, shoulder_min, 1, shoulder_max, arm_sp);
	double current_phi_e = linterp(0, elbow_min, 1, elbow_max, arm_ep);
	double current_beta_s = linterp(0, -180, 1, 180, arm_sy);
	double current_phi_l = current_phi_s - current_phi_e;
	double rho_e = lu*cos(RAD*current_phi_s);
	double z_e = lu*sin(RAD*current_phi_s);
	double rho_w = rho_e + ll*cos(RAD*current_phi_l);
	double z_w = z_e + ll*sin(RAD*current_phi_l);
	double x_w = rho_w*cos(RAD*current_beta_s);
	double y_w = rho_w*sin(RAD*current_beta_s);
	//  sprintf(oapiDebugString(),"ll %f lu %f arm_sy %f beta_s %f arm_sp %f phi_s %f arm_ep %f phi_e %f FK %f,%f,%f",ll,lu,arm_sy,current_beta_s,arm_sp,current_phi_s,arm_ep,current_phi_e,x_w,y_w,z_w);
	return _V(x_w, y_w, z_w);
}

void Atlantis::SetAnimationIKArm(VECTOR3 arm_wrist_dpos) {
	arm_wrist_pos = CalcAnimationFKArm();
	//Candidate position. Calculate the joints on it... 
	VECTOR3 arm_wrist_cpos = arm_wrist_pos + arm_wrist_dpos;
	double r = length(arm_wrist_cpos);
	double beta_s = DEG*atan2(arm_wrist_cpos.y, arm_wrist_cpos.x);
	double rho = sqrt(arm_wrist_cpos.x*arm_wrist_cpos.x + arm_wrist_cpos.y*arm_wrist_cpos.y);
	double cos_phibar_e = (r*r - lu*lu - ll*ll) / (-2 * lu*ll);
	if (fabs(cos_phibar_e)>1) return;//Can't reach new point with the elbow
	double phi_e = 180 - DEG*acos(cos_phibar_e);
	double cos_phi_s2 = (ll*ll - lu*lu - r*r) / (-2 * lu*r);
	if (fabs(cos_phi_s2)>1) return; //Can't reach with shoulder
	double phi_s = DEG*(atan2(arm_wrist_cpos.z, rho) + acos(cos_phi_s2));
	double anim_phi_s = linterp(shoulder_min, 0, shoulder_max, 1, phi_s);
	double anim_phi_e = linterp(elbow_min, 0, elbow_max, 1, phi_e);
	double anim_beta_s = linterp(-180, 0, 180, 1, beta_s);
	if (anim_beta_s<0 || anim_beta_s>1) return;
	if (anim_phi_s<0 || anim_phi_s>1) return;
	if (anim_phi_e<0 || anim_phi_e>1) return;
	//but only keep it and set the joints if no constraints are violated.

	//Limited IK on the wrist
	double new_phi_l = phi_s - phi_e;
	double current_phi_w = linterp(0, wrist_min, 1, wrist_max, arm_wp);
	double current_phi_s = linterp(0, shoulder_min, 1, shoulder_max, arm_sp);
	double current_phi_e = linterp(0, elbow_min, 1, elbow_max, arm_ep);
	double current_beta_s = linterp(0, -180, 1, 180, arm_sy);
	double current_phi_l = current_phi_s - current_phi_e;
	double new_phi_w = current_phi_w - new_phi_l + current_phi_l;
	double anim_phi_w = linterp(wrist_min, 0, wrist_max, 1, new_phi_w);
	arm_sy = anim_beta_s;
	SetAnimationArm(anim_arm_sy, arm_sy);
	arm_sp = anim_phi_s;
	SetAnimationArm(anim_arm_sp, arm_sp);
	arm_ep = anim_phi_e;
	SetAnimationArm(anim_arm_ep, arm_ep);
	arm_wp = anim_phi_w;
	SetAnimationArm(anim_arm_wp, arm_wp);
	arm_wrist_pos = arm_wrist_cpos;
}

and this:

//IK setup
	VECTOR3 shoulder_pos = _V(-9.784, -2.10, 2.05);
	VECTOR3 elbow_pos = _V(-3.3, -2.26, 1.7);
	VECTOR3 wrist_pos = _V(3.55, -2.26, 1.7);
	elbow_pos -= shoulder_pos;
	wrist_pos -= shoulder_pos;
	shoulder_pos -= shoulder_pos;
	lu = length(elbow_pos);
	ll = length(elbow_pos - wrist_pos);
	shoulder_neutral = 0.0136; //In anim coordinate
	shoulder_range = 147;      //in deg
	shoulder_min = shoulder_range*-shoulder_neutral; //Min angle, deg
	shoulder_max = shoulder_range*(1 - shoulder_neutral); //Max angle, deg
	elbow_neutral = 0.0123;
	elbow_range = 162;
	elbow_min = elbow_range*-elbow_neutral; //Min angle, deg
	elbow_max = elbow_range*(1 - elbow_neutral); //Max angle, deg
	wrist_neutral = 0.5; //In anim coordinate
	wrist_range = 240;      //in deg
	wrist_min = wrist_range*-wrist_neutral; //Min angle, deg
	wrist_max = wrist_range*(1 - wrist_neutral); //Max angle, deg
	arm_wrist_pos = wrist_pos;

 

[Donamy]

You'll have to get it from the SSRMSD code or the SSU RMS code. Both are available aren't they ?

 

[gattispilot]

I have seen the SSU RMS code but not sure about the SSRMSD. But the SSU RMS is coded differently than the Atlantis. So not sure if I can do it

 

[gattispilot]

If the sf code were available it would make things easier. But I am tring to rework the rms code similar to SS RMS.


https://www.orbiter-forum.com/showthread.php?t=39877

But the big 2 things I can not do is mfd and Auto pilot part.

So if someone wants to help make a mfd similar to SF let me know.

As far as the OBSS I just added a new attachment point for it so it can be rotated out.

 

[Snax]

so a good thing
I was running the SSU and was able to switch the modes but still not able to move the arm? I did the CTRL A and saw controlling rms.

Hi, I'm maybe a bit late but if you're still having problem to move the arm, here's how I do it.

1. PANEL R13L
   PLBAY MECH PWR SYS 1..........................ON (image)
   PLBAY MECH PWR SYS 2..........................ON (image)
   ----
2. PANEL A8L
   RMS SELECT...........................................PORT (image)
   ---
3. PANEL A8U
   MASTER ALARM......................................DEPRESSED (image)
   ---
4. PANEL A8L
   PORT RMS.............................................DEPLOY (image)
   RETENTION LATCHES..............................RELEASE (image)
   ---
5. PANEL A8U
   SHOULDER BRACE RELEASE.....................hold on PORT for ~10secs (image)
   MODE...................................................SINGLE (so you can move each JOINT one at the time (in RCS rotation mode)
   JOINT...................................................as desired
   MODE...................................................ORB UNL (in RCS translation mide)
   PARAMETER...........................................POSITION X/Y/Z (or as desired/required)
   END EFFECTOR.......................................MODE AUTO

• 
  Keyboard bindings
  CTRL+A for QWERTY / CTRL+Q for AZERTY.(switching between controlling the RCS or the RMS)
  NUMPAD2
  NUMPAD4
  NUMPAD6
  NUMPAD8
  Arrow Keys............................................(only on ORB UNL and in RCS translation mode)
  Ctrl+Enter............................................(End Effector grapple) wait for CLOSE & CAPTURE talkbacks, then wait 3-4 seconds later, for the RIGID talkback
  Ctrl+Backspace.....................................(End Effector release) same but backward.

Hope that helps :tiphat:

 

[gattispilot]

Thanks. I will try it.

So this is what I have so far wiith the OBSS. I made a new attachment so it can roll out.

Then move the rms arm to attach:

But when I restart I get a new position:

I guess that will get fixed when I get the new rms/ssRMS code to work for me

 

[Donamy]

You have to have the EE aligned with the grapple fixture exactly, or it shouldn't grapple. That will fix your problem of snappimg to the wrong position.

 

[gattispilot]

Ok. I will adjust the grapple distance so it is closer. Of course if I get the SS rms to work then things might be different. A big IF get the SSrms code to work

 

[Donamy]

How about the cameras ?

 

[gattispilot]

Mine has Camera Shift V and CTrl v in VC. They may need adjusted

 

[Donamy]

I'm talking about the EE camera, and the elbow camera. Help to line up with grapples easier.

 

[gattispilot]

Me too. Running all sorts of trying to get ssrms code to work

 

[gattispilot]

So on the OBSS

From the sf doc he had the attachment for obss at:
PL1_OFS 2.850 2.150 3.850
PL1_DIR 0.000 1.000 0.000
PL1_ROT 1.000 0.000 0.000

But I can see I need to adjust the point to fit it better into the MPM. But When I move the point the OBSS goes away and ctd. I see why because the rotation vectors are the same. Any ideas.

 

[Donamy]

I think you are trying to move both attachment points, when you only need to move one.

 

[gattispilot]

I think you are trying to move both attachment points, when you only need to move one.

I only move the one in the shuttle

The SSU looks like it uses this:

OBSS_ATTACHMENT_POINT+MPM_MESH_OFFSET, _V(0,1,0), _V(0,0,1), "OBSS");

But makes the OBSS 90 degrees out of synch for me.

armobss_tip[0] = OBSS_POS;
	armobss_tip[1] = OBSS_POS + _V(0.0, 1.0, 0.0);
	armobss_tip[2] = OBSS_POS + _V(1.0, 0.0, 0.0);

	SetAttachmentParams(OBSS_attach, armobss_tip[0], armobss_tip[1] - armobss_tip[0], armobss_tip[2] - armobss_tip[0]);

//mpmobss
	static UINT OBSSmpm[1] = { 0 };
	static MGROUP_ROTATE OBSS_A(7, OBSSmpm, 1,_V(2.544, 1.187, 9.613), _V(0, 0, 1), (float)(-30 * RAD)); // -180 .. +180
	anim_MPMOBSS = CreateAnimation(0.0);
	obssparent = AddAnimationComponent(anim_MPMOBSS, 0, 1, &OBSS_A);
	obss_anim[0] = new MGROUP_ROTATE(LOCALVERTEXLIST, MAKEGROUPARRAY(armobss_tip), 3, OBSS_POS, _V(0, 0, 1), (float)(0.0));
	AddAnimationComponent(anim_MPMOBSS, 0, 1, obss_anim[0], obssparent);

---------- Post added at 06:29 PM ---------- Previous post was at 11:58 AM ----------

Not sure what is going on here.
This is the OBSS_SSu attached and it looks good:

and here is the UltraOBSS

not sure why the rot is 0,0,0?
UltraOBSS:

[CHILD_ATTACH_0] ; To MPM's
POS = (-0.13,0.32,2.210)
DIR = (0,-1,0)
ROT = (1,0,0)
ID = "OS"

and SSU _OBSS

P -0.05 -0.275 1.47 0 -1 0 0 0 1 OS ; To MPM's

 

[Donamy]

Someone rotated it, of course.:yes:

 

[gattispilot]

Someone rotated it, of course.:yes:

Well this works for me:
I made a new cfg and used the SSU attachment vector

P -0.13 0.32 2.210 0 -1 0 0 0 1 OS ; To MPM's

But the odd thing is this Here I just grapped it and lifted it up

ATTACHED 1:1,STS-126
exited and reloaded and now it is this:

here it is
ATTACHED 1:1,STS-126