Problem Canadarm2v3.1 with D3D9Client

N

Nikogori

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I'm using Canadarm2v3.1 with thorton's ISS v3.2. However, it seems Canadarm2 doesn't work well with D3D9Client(D3D9Client R15).

I made a video to explain this problem. First part of the video was recorded without D3D9Client.
I'm using linear translation mode. No rotation was added to the payload.

Code: 
BEGIN_DESC

END_DESC

BEGIN_ENVIRONMENT
  System SolM
  Date MJD 52102.4279873268
END_ENVIRONMENT

BEGIN_FOCUS
  Ship SSRMSD
END_FOCUS

BEGIN_CAMERA
  TARGET SSRMSD
  MODE Extern
  POS 4.09 2.58 -62.55
  TRACKMODE TargetRelative
  FOV 50.00
END_CAMERA

BEGIN_HUD
  TYPE Surface
END_HUD

BEGIN_MFD Left
  TYPE User
  MODE GPC MFD
  ILOAD 1
  MODE 0
  SITE 1
  RUNWAY 0
  HAC 0
  MET 0
END_MFD

BEGIN_MFD Right
  TYPE Orbit
  PROJ Ship
  FRAME Equator
  ALT
  REF Sun
END_MFD

BEGIN_SHIPS
ISS:ISSR\ISS
  STATUS Orbiting Earth
  RPOS -450083.69 2221692.14 6372347.87
  RVEL -6697.162 -3655.540 795.760
  AROT -175.40 -38.95 -57.87
  AFCMODE 7
  PRPLEVEL 0:0.520656 1:0.360916 2:0.485309 3:0.435755 4:0.072082
  DOCKINFO 0:0,SoyuzTM-32 1:0,ProgressM1-6 2:0,STS-104
  NAVFREQ 0 0
  XPDR 159
  CONFIGURATION 8
  CAM 1
  FUEL 1135.9831 1985.0000 242.6544 305.0283 216.2469
  PMA 
  Z1 1
  CMG 1 1
  SSRMS 1
  TS1 0 0 0 0
  TS2 -1 -1 1 1
  TS3 1.0000 1.0000 1.0000 0.0000
  ZARYA_SOL1 0 0 0 0
  ZARYA_SOL2 -1 -1 0 0
  ZARYA_SOL3 1.0000 1.0000 0.7111 0.7111
  ControlMode01 1 1
  ZVEZDA_SOL1 0 0
  ZVEZDA_SOL2 -1 -1 0 0
  ZVEZDA_SOL3 1.0000 1.0000 0.7111 0.7111
  ControlMode02 1 1
  Ku 0 1.0000 -1
  CAP 0 1.0000 -1
  COV 0 0 0.0000 1 0
  JAL 0 0
  EMU 0 0
  ORLAN 0 0
  AL1 0 0.0000 1
  AL2 0 0.0000 1 0 0.0000 1
END
APFR1:ISSR\APFR
  STATUS Orbiting Sun
  RPOS 52306682403.44 3412956.50 -142785471614.80
  RVEL 20791.337 -3655.608 10919.957
  AROT 164.63 49.30 -15.41
  ATTACHED 3:8,ISS
  AFCMODE 7
  NAVFREQ 0 0
  SH1 1 0.0058 0
  SH2 0 0.0000 0
  SH3 0 1.0000 0
  SH5 0.5000 0.5000
  POS0 0.02 -0.16 0.28
  DIR0 0.00 0.70 -0.72
  ROT0 1.00 0.00 0.00
  POS1 0.00 -0.09 0.00
  DIR1 0.00 -0.02 -1.00
  ROT1 0.00 -1.00 0.02
END
APFR2:ISSR\APFR
  STATUS Orbiting Sun
  RPOS 52306682405.72 3412958.28 -142785471613.10
  RVEL 20791.337 -3655.608 10919.957
  AROT 86.42 -9.98 -50.33
  ATTACHED 3:9,ISS
  AFCMODE 7
  NAVFREQ 0 0
  SH1 1 0.0058 0
  SH2 0 0.0000 0
  SH3 0 1.0000 0
  SH5 0.5000 0.5000
  POS0 0.02 -0.16 0.28
  DIR0 0.00 0.70 -0.72
  ROT0 1.00 0.00 0.00
  POS1 0.00 -0.09 0.00
  DIR1 0.00 -0.02 -1.00
  ROT1 0.00 -1.00 0.02
END
OTD:ISSR\OTD
  STATUS Orbiting Sun
  RPOS 52306682394.37 3412956.61 -142785471602.92
  RVEL 20791.337 -3655.608 10919.957
  AROT 164.63 49.30 74.59
  ATTACHED 1:0,ISS
  AFCMODE 7
  NAVFREQ 0 0
  SH1 1 0.8233 0
  SH2 1 0.7953 0
  SH3 1 0.3513 0
  SH4 1 0.3613 0
  SH5 0.5000
  POS -0.21 -2.18 0.16
  DIR -0.09 -0.94 -0.32
  ROT 0.20 0.29 -0.93
END
Strela:ISSR\Strela
  STATUS Orbiting Sun
  RPOS 52306682395.22 3412954.13 -142785471602.03
  RVEL 20791.337 -3655.608 10919.957
  AROT 86.42 -9.98 -50.33
  ATTACHED 1:1,ISS
  AFCMODE 7
  NAVFREQ 0 0
  SH1 0 0.5000 0
  SH2 1 0.1241 0
  SH3 0 0.0000 0
  SH4 1 0.1882 0 0 0.0000 0
  SH5 0.5000 0.5000
  POS0 -2.46 0.00 0.61
  DIR0 0.24 0.00 -0.97
  ROT0 0.00 1.00 0.00
  POS1 0.56 0.00 0.95
  DIR1 0.00 0.00 1.00
  ROT1 0.00 1.00 0.00
END
PMA-3:ISSR\PMA
  STATUS Orbiting Sun
  RPOS 52306682398.00 3412959.42 -142785471606.18
  RVEL 20791.337 -3655.608 10919.957
  AROT 116.14 24.43 133.67
  ATTACHED 3:2,ISS
  AFCMODE 7
  NAVFREQ 0 0
END
P6:ISSR\P6
  STATUS Orbiting Sun
  RPOS 52306682390.46 3412949.54 -142785471611.43
  RVEL 20791.337 -3655.608 10919.957
  AROT 49.57 -41.19 146.66
  ATTACHED 3:6,ISS
  AFCMODE 7
  NAVFREQ 0 0
  TYPE 0
  ControlMode 1 1
  RADIATORS 0 0 -1 -1 1.0000 1.0000
  SOL_DEPLOY1 0 0 -1 -1 1.0000 1.0000
  SOL_DEPLOY2 0 0 -1 -1 1.0000 1.0000
  BATTERY 300000.0000 100.0000
  ROTATION 0.7111 0 0.7111 0
  SBAND 
END
SSRMSD:SSRMSD
  STATUS Orbiting Sun
  RPOS 52306682417.28 3412961.89 -142785471608.32
  RVEL 20791.337 -3655.608 10919.957
  AROT 82.73 -14.27 130.44
  ATTACHED 1:10,ISS
  RCSMODE 2
  AFCMODE 7
  PRPLEVEL 0:1.000000
  NAVFREQ 0 0
  ARM_STATUS 0.000000 -28.947237 89.416599 -58.169451 -66.551484 -17.478958 -66.443386
  ACTIVE_LEE 1
  FOLDED 1 1.0000
  ACTIVE_CAMERA 0
  CAM_STATUS 0.000000 0.000000 0.000000 0.000000
@SUBSYSTEM LEE1
  ATTACHED_PAYLOAD ISS 10
  BASE 
@ENDSUBSYSTEM		;LEE1
@SUBSYSTEM LEE2
  ATTACHED_PAYLOAD Quest 1
@ENDSUBSYSTEM		;LEE2
END
SoyuzTM-32:ISSR\SouyzTM
  STATUS Orbiting Earth
  RPOS -450081.00 2221695.32 6372351.57
  RVEL -6697.162 -3655.540 795.760
  AROT -130.43 41.19 78.34
  AFCMODE 7
  PRPLEVEL 0:0.460000
  DOCKINFO 0:0,ISS
  NAVFREQ 0 0
  CAM 0 1.0000 -1
  SOL_DEP 0 1.0000 -1
  ENG_COV 0 0.0000 1 0 1
  VKA 0 0.0000 1
  PROBE 0 0.0000 1 0.0000
  LIGHT 1 0
  BATTERY 40590.3527 96.6437
  SHOWDATA 1
  DEPLOY 0.0000
  TRACK 0
  INIT 1
  TARGET 
  CURDOCK 0
  CMST 0
  DETACH 0
  DEPRESS 0 0.0000
  IMP 3
END
ProgressM1-6:ISSR\Progress_M1
  STATUS Orbiting Earth
  RPOS -450103.12 2221694.07 6372371.83
  RVEL -6697.162 -3655.540 795.760
  AROT -175.40 -38.95 -102.87
  AFCMODE 7
  PRPLEVEL 0:0.590000
  DOCKINFO 0:1,ISS
  NAVFREQ 0 0
  CAM 0 1.0000 -1
  SOL_DEP 0 1.0000 -1
  ENG_COV 0 0.0000 1 0 0
  VKA 0 0.0000 1
  PROBE 0 0.0000 1 0.0000
  LIGHT 1 0
  BATTERY 39821.6513 94.8135
  SHOWDATA 1
  DEPLOY 0.0000
  TRACK 0
  INIT 1
  TARGET 
  CURDOCK 0
  IMP 3
  FEED 0
END
STS-104:Shuttle
  STATUS Orbiting Earth
  RPOS -450062.33 2221697.59 6372336.94
  RVEL -6697.162 -3655.540 795.760
  AROT -130.43 41.19 -56.66
  AFCMODE 7
  PRPLEVEL 0:0.927283
  DOCKINFO 0:2,ISS
  NAVFREQ 0 0
  CONFIGURATION 3
  OV- 104
  RENDER 
  RMSARM 
  ISSV1 
  CARGODOOR 1 1.0000
  KUBAND 1 1.0000
  POSTLAND 0 0.0000
  SSMES 0 0.0000
  ADTA 0 0.0000
  PETD 1 1.0000
  SETD 1 1.0000
  ARMTILT 1 1.0000 1 1.0000
  PRADIATOR 0 0.0000
  SRADIATOR 0 0.0000
  GEAR 0 0.0000
  PAYLOAD_MASS1 0.0000
  PAYLOAD_MASS2 0.0000
  PAYLOAD_MASS3 0.0000
  ARM_STATUS 0.5000 0.0151 0.0162 0.5000 0.5000 0.5000
  PL1_OFS 0.000000 0.000000 0.000000
  PL1_DIR 0.000000 1.000000 0.000000
  PL1_ROT 0.000000 0.000000 1.000000
  PL2_OFS 0.000000 0.000000 0.000000
  PL2_DIR 0.000000 1.000000 0.000000
  PL2_ROT 1.000000 0.000000 0.000000
  PL3_OFS -1.850000 1.800000 11.750000
  PL3_DIR 0.000000 1.000000 0.000000
  PL3_ROT 0.000000 0.000000 1.000000
  PL4_OFS -2.200000 1.800000 -6.250000
  PL4_DIR 0.000000 1.000000 0.000000
  PL4_ROT 0.000000 0.000000 1.000000
  PL5_OFS 2.200000 1.800000 -6.250000
  PL5_DIR 0.000000 1.000000 0.000000
  PL5_ROT 0.000000 0.000000 1.000000
  PL6_OFS 1.850000 1.800000 11.750000
  PL6_DIR 0.000000 1.000000 0.000000
  PL6_ROT 0.000000 0.000000 1.000000
  KEEL_CAM 0.145000 -0.500000 -1.356000
  OMS 
  CALLOUT 
  ASSIST  135.000000 102.000000
END
ShuttleBay:ISSR\STSBAY
  STATUS Orbiting Sun
  RPOS 52306682416.14 3412961.76 -142785471612.01
  RVEL 20791.337 -3655.608 10919.957
  AROT -130.43 41.19 -56.66
  ATTACHED 0:0,STS-104
  AFCMODE 7
  NAVFREQ 0 0
  STS 104
  EMU 0 0
  TIMER -0.1084 -0.0088 -0.0152
END
Quest:ISSR\Quest
  STATUS Orbiting Earth
  RPOS -450060.56 2221699.55 6372339.27
  RVEL -6697.162 -3655.540 795.760
  AROT -67.97 -23.40 136.23
  ATTACHED 1:2,SSRMSD
  AFCMODE 7
  NAVFREQ 0 0
  COVER 0 0.0000 1
END
O2_Tank1:ISSR\Q_tank_1
  STATUS Orbiting Sun
  RPOS 52306682411.79 3412960.10 -142785471613.53
  RVEL 20791.337 -3655.608 10919.957
  AROT 4.59 38.95 -32.13
  ATTACHED 1:1,ShuttleBay
  AFCMODE 7
  NAVFREQ 0 0
END
O2_Tank2:ISSR\Q_tank_2
  STATUS Orbiting Sun
  RPOS 52306682410.08 3412958.61 -142785471614.80
  RVEL 20791.337 -3655.608 10919.957
  AROT 4.59 38.95 -32.13
  ATTACHED 1:2,ShuttleBay
  AFCMODE 7
  NAVFREQ 0 0
END
N2_Tank3:ISSR\Q_tank_3
  STATUS Orbiting Sun
  RPOS 52306682410.95 3412956.89 -142785471613.96
  RVEL 20791.337 -3655.608 10919.957
  AROT 4.59 38.95 -32.13
  ATTACHED 1:3,ShuttleBay
  AFCMODE 7
  NAVFREQ 0 0
END
N2_Tank4:ISSR\Q_tank_4
  STATUS Orbiting Sun
  RPOS 52306682412.66 3412958.38 -142785471612.69
  RVEL 20791.337 -3655.608 10919.957
  AROT 4.59 38.95 -32.13
  ATTACHED 1:4,ShuttleBay
  AFCMODE 7
  NAVFREQ 0 0
END
LC39:ISSR\LC39
  STATUS Landed Earth
  POS -80.6208880 28.6271650
  HEADING 0.00
  AFCMODE 7
  PRPLEVEL 0:1.000000
  THLEVEL 0:1.000000
  NAVFREQ 0 0
  RSS 0 1.0000 -1
  WR 0 1.0000 -1
  VA 0 1.0000 -1
  TC 0 1.0000 -1
  PS_LVL 0.0000 0.0000 0.0000
  TIMER 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 -0.0019
  LIGHT 1
END
RL:ISSR\RL
  STATUS Landed Earth
  POS -80.6806830 28.5939500
  HEADING 360.00
  AFCMODE 7
  PRPLEVEL 0:1.000000
  THLEVEL 0:1.000000
END
STS-104-Tank:Shuttle_Tank
  STATUS Orbiting Earth
  RPOS 1727269.69 -1047435.27 -6142519.34
  RVEL 6454.242 4394.917 1167.999
  AROT 28.19 -15.48 57.04
  VROT -0.46 0.01 0.00
  AFCMODE 7
  PRPLEVEL 0:1.000000
END
END_SHIPS

BEGIN_DX9ExtMFD
END
 
kuddel

kuddel

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Hmm, I can not think of anything the (D3D9-)Client could add to this.
In the video, the D3D9 part shows constant "Unable to Grapple: Angel error: ####"
messages (lower left). Was this the case when you've started the sequence in D3D9-Test?
The only part D3D9Client could add to this is maybe a higher framerate, that might change some calculations there...
And if a (very tiny) grappling error is there right from the start that could be the problem.
Why the error does not appear when the same scenario is started with the inline client is still strange.
 
N

Nikogori

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I have tested this with D3D9ClientR14-for2010-P1 and D3D9ClientR15. The results are the same. This does not happen if I use inline client.

If I release the payload and grapple it again, the payload will be back to its appropriate position. However, if I move the arm, the payload slowly comes off from end effector.

It seems this also happens with SSRMS:ISSR\SSRMS(the one comes with thorton's ISS v3.2). Though it is more difficult to recognize the effect. I think Canadarm2v3.1 might not be the cause of the problem.
ssrms_bug001.png
 
M

martins

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kuddel said:
The only part D3D9Client could add to this is maybe a higher framerate, that might change some calculations there...
And if a (very tiny) grappling error is there right from the start that could be the problem.
Click to expand...

If it's a framerate issue, this could be easily checked by setting a fixed step interval in the debug options (a very useful option for debugging in general - it makes simulation sessions reproducible and independent of hardware performance).
 
Cras

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I have reported weirdness using robotic arms before and from what I was able to tell it was a frame rate issue. In D3D9 you can turn on a frame rate limiter in sim using the debug dialog box.
 
N

Nikogori

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Thanks to your suggestions, I found a solution to the problem. It was indeed a frame rate issue.
All I had to do was to uncheck Disable vertical sync option in video tab. I had checked this option for recording videos...
 
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