SSU Development thread (4.0 to 5.0) [DEVELOPMENT HALTED DUE TIME REQUIREMENTS!]

DaveS · Apr 30, 2017

GLS said:
Does it only happen when moving the WR joint? Any differences show when changing reference modes? When the error starts showing, do the joint angles and EE orientation numbers still make sense (i.e., do they jump suddenly or start changing in the other direction)?

I can finally confirm the bug that Donamy has been reporting. I finally managed to duplicate it on my end. What I noticed when it happened was that the wrist yaw LED blanked out completely as it approached 270° when in attitude mode.

Here's the steps to replicate it:

Launch the attached scenario
Press Ctrl-A to switch control to the RMS
Now yaw left to this attitude: P270 Y270 R0 (essentially a 90° left yaw), the yaw LED should go blank as you near this attitude
Now yaw back to P270 Y0 R0
Repeat the two earlier steps at least 5-6 times without ever using time acceleration
Occasionally press F1 and watch how the misalignment between the End Effector and the pin on the MPLM become worse and worse

Code:

BEGIN_DESC
Current scenario state


Contains the latest simulation state.
END_DESC

BEGIN_ENVIRONMENT
  System Sol
  Date MJD 51982.0894212661
  Context SSU
END_ENVIRONMENT

BEGIN_FOCUS
  Ship STS-101
END_FOCUS

BEGIN_CAMERA
  TARGET STS-101
  MODE Extern
  POS 1.144821 179.948013 -21.485918
  TRACKMODE TargetRelative
  FOV 40.00
END_CAMERA

BEGIN_HUD
  TYPE Docking
  NAV 0
END_HUD

BEGIN_MFD Left
  TYPE Docking
  NAV 0
END_MFD

BEGIN_MFD Right
  TYPE Map
  REF Earth
END_MFD

BEGIN_VC
END_VC

BEGIN_SHIPS
STS-101:SpaceShuttleUltra
  STATUS Orbiting Earth
  RPOS 5756383.272 2899776.011 -1933854.891
  RVEL 3728.2854 -6637.0842 1150.8861
  AROT 45.444 -27.699 81.047
  VROT 0.0188 0.0184 -0.0234
  AFCMODE 7
  PRPLEVEL 0:0.989307 1:1.000000 2:1.000000 3:1.000000 4:1.000000 5:1.000000 6:0.862395 7:1.000000 8:1.000000 9:1.000000
  NAVFREQ 466 0
  MISSION STS-120
  CONFIGURATION 3
  VC_POS 9
  GEAR 0 0.0000
  OPS 201
  PLB_CAM 0.0000 0.0000 0.0000 0.0000 -16.5256 -18.5017 0.0000 0.0000
@SUBSYSTEM HeEng_C
  PRESS 1456.477634
  VALVES 1.000000 1.000000 0.000000 0.000000
@ENDSUBSYSTEM		;HeEng_C
@SUBSYSTEM HeEng_L
  PRESS 1456.361157
  VALVES 1.000000 1.000000 0.000000 0.000000
@ENDSUBSYSTEM		;HeEng_L
@SUBSYSTEM HeEng_R
  PRESS 1456.347927
  VALVES 1.000000 1.000000 0.000000 0.000000
@ENDSUBSYSTEM		;HeEng_R
@SUBSYSTEM HePneu
  PRESS 1498.011935
  VALVES 1.000000 1.000000 0.000000
@ENDSUBSYSTEM		;HePneu
@SUBSYSTEM MPS
@ENDSUBSYSTEM		;MPS
@SUBSYSTEM MPS_C
  SSME config 5
  VIE config 2
  DCU_chA config 0
  DCU_chB config 0
  CIE_chA config 2
  CIE_chB config 2
@ENDSUBSYSTEM		;MPS_C
@SUBSYSTEM MPS_L
  SSME config 5
  VIE config 2
  DCU_chA config 0
  DCU_chB config 0
  CIE_chA config 2
  CIE_chB config 2
@ENDSUBSYSTEM		;MPS_L
@SUBSYSTEM MPS_R
  SSME config 5
  VIE config 2
  DCU_chA config 0
  DCU_chB config 0
  CIE_chA config 2
  CIE_chB config 2
@ENDSUBSYSTEM		;MPS_R
@SUBSYSTEM FMC1
@ENDSUBSYSTEM		;FMC1
@SUBSYSTEM FMC2
@ENDSUBSYSTEM		;FMC2
@SUBSYSTEM FMC3
@ENDSUBSYSTEM		;FMC3
@SUBSYSTEM MMC1
@ENDSUBSYSTEM		;MMC1
@SUBSYSTEM MMC2
@ENDSUBSYSTEM		;MMC2
@SUBSYSTEM MMC3
@ENDSUBSYSTEM		;MMC3
@SUBSYSTEM MMC4
@ENDSUBSYSTEM		;MMC4
@SUBSYSTEM AMC1
@ENDSUBSYSTEM		;AMC1
@SUBSYSTEM AMC2
@ENDSUBSYSTEM		;AMC2
@SUBSYSTEM AMC3
@ENDSUBSYSTEM		;AMC3
@SUBSYSTEM FF1
@ENDSUBSYSTEM		;FF1
@SUBSYSTEM FF2
@ENDSUBSYSTEM		;FF2
@SUBSYSTEM FF3
@ENDSUBSYSTEM		;FF3
@SUBSYSTEM FF4
@ENDSUBSYSTEM		;FF4
@SUBSYSTEM FA1
@ENDSUBSYSTEM		;FA1
@SUBSYSTEM FA2
@ENDSUBSYSTEM		;FA2
@SUBSYSTEM FA3
@ENDSUBSYSTEM		;FA3
@SUBSYSTEM FA4
@ENDSUBSYSTEM		;FA4
@SUBSYSTEM PL1
@ENDSUBSYSTEM		;PL1
@SUBSYSTEM PL2
@ENDSUBSYSTEM		;PL2
@SUBSYSTEM LF1
@ENDSUBSYSTEM		;LF1
@SUBSYSTEM LM1
@ENDSUBSYSTEM		;LM1
@SUBSYSTEM LA1
@ENDSUBSYSTEM		;LA1
@SUBSYSTEM OF1
@ENDSUBSYSTEM		;OF1
@SUBSYSTEM OF2
@ENDSUBSYSTEM		;OF2
@SUBSYSTEM OF3
@ENDSUBSYSTEM		;OF3
@SUBSYSTEM OF4
@ENDSUBSYSTEM		;OF4
@SUBSYSTEM OA1
@ENDSUBSYSTEM		;OA1
@SUBSYSTEM OA2
@ENDSUBSYSTEM		;OA2
@SUBSYSTEM OA3
@ENDSUBSYSTEM		;OA3
@SUBSYSTEM LL1
@ENDSUBSYSTEM		;LL1
@SUBSYSTEM LL2
@ENDSUBSYSTEM		;LL2
@SUBSYSTEM LR1
@ENDSUBSYSTEM		;LR1
@SUBSYSTEM LR2
@ENDSUBSYSTEM		;LR2
@SUBSYSTEM EIU1
@ENDSUBSYSTEM		;EIU1
@SUBSYSTEM EIU2
@ENDSUBSYSTEM		;EIU2
@SUBSYSTEM EIU3
@ENDSUBSYSTEM		;EIU3
@SUBSYSTEM MTU
  MET_RUNNING 1
  MET0 4237.177387
  MET1 4237.177387
  MET2 4237.177387
EVENT_TIMER0 0.000000 DOWN STOPPED
EVENT_TIMER1 0.000000 DOWN STOPPED
@ENDSUBSYSTEM		;MTU
@SUBSYSTEM IDP1
  IDP1 SPEC 65535
  IDP1 DISP 65535
@ENDSUBSYSTEM		;IDP1
@SUBSYSTEM IDP2
  IDP2 SPEC 65535
  IDP2 DISP 65535
@ENDSUBSYSTEM		;IDP2
@SUBSYSTEM IDP3
  IDP3 SPEC 65535
  IDP3 DISP 65535
@ENDSUBSYSTEM		;IDP3
@SUBSYSTEM IDP4
  IDP4 SPEC 65535
  IDP4 DISP 65535
@ENDSUBSYSTEM		;IDP4
@SUBSYSTEM IMU1
@ENDSUBSYSTEM		;IMU1
@SUBSYSTEM IMU2
@ENDSUBSYSTEM		;IMU2
@SUBSYSTEM IMU3
@ENDSUBSYSTEM		;IMU3
@SUBSYSTEM GPC1
@ENDSUBSYSTEM		;GPC1
@SUBSYSTEM GPC2
@ENDSUBSYSTEM		;GPC2
@SUBSYSTEM GPC3
@ENDSUBSYSTEM		;GPC3
@SUBSYSTEM GPC4
@ENDSUBSYSTEM		;GPC4
@SUBSYSTEM GPC5
@ENDSUBSYSTEM		;GPC5
@SUBSYSTEM MMU1
@ENDSUBSYSTEM		;MMU1
@SUBSYSTEM MMU2
@ENDSUBSYSTEM		;MMU2
@SUBSYSTEM SimpleGPCSystem
  @BEGINSOFTWARE OrbitDAP
  TGT_ID 2
  BODY_VECT 1
  ROLL 0.000000
  PITCH 0.000000
  YAW 0.000000
  P_ANGLE 0.000000
  Y_ANGLE 0.000000
  OM_ANGLE -1.000000
  DAP_MODE 0 0
  ROT_MODE 0 0 0
  TRANS_MODE 0 0 0
  CONTROL_MODE 1
  @ENDSOFTWARE 
  @BEGINSOFTWARE StateVectorSoftware
  T0_POS 0.000000 0.000000 0.000000
  @ENDSOFTWARE 
  @BEGINSOFTWARE OrbitTgtSoftware
  TIG_T1 0 0 0 0.0
  DT 0.000000
  RELPOS_T2 0.000000 0.000000 0.000000
  BASE_TIME 0 0 0 0.0
  @ENDSOFTWARE 
  @BEGINSOFTWARE IO_Control
  @ENDSOFTWARE 
  @BEGINSOFTWARE ATVC_SOP
  CONFIG 2
  @ENDSOFTWARE 
  @BEGINSOFTWARE GeneralDisplays
  @ENDSOFTWARE 
  @BEGINSOFTWARE RHC_RM
  @ENDSOFTWARE 
  @BEGINSOFTWARE THC_RM
  @ENDSOFTWARE 
  @BEGINSOFTWARE RHC_SOP
  @ENDSOFTWARE 
  @BEGINSOFTWARE THC_SOP
  @ENDSOFTWARE 
@ENDSUBSYSTEM		;SimpleGPCSystem
@SUBSYSTEM ADPS
  LEFT_AIRDATAPROBE 1 3 0.000000
  RIGHT_AIRDATAPROBE 1 3 0.000000
@ENDSUBSYSTEM		;ADPS
@SUBSYSTEM ETUmbDoors
  ET_DOORS 0.000000 0.000000
  ET_DOOR_LATCHES 1.000000 0.000000 0.000000
@ENDSUBSYSTEM		;ETUmbDoors
@SUBSYSTEM -YStarTrackerDoorMotor
@ENDSUBSYSTEM		;-YStarTrackerDoorMotor
@SUBSYSTEM -ZStarTrackerDoorMotor
@ENDSUBSYSTEM		;-ZStarTrackerDoorMotor
@SUBSYSTEM ACBusSystem
@ENDSUBSYSTEM		;ACBusSystem
@SUBSYSTEM INVERTER1
@ENDSUBSYSTEM		;INVERTER1
@SUBSYSTEM INVERTER2
@ENDSUBSYSTEM		;INVERTER2
@SUBSYSTEM INVERTER3
@ENDSUBSYSTEM		;INVERTER3
@SUBSYSTEM GCIL
@ENDSUBSYSTEM		;GCIL
@SUBSYSTEM ATVC
@ENDSUBSYSTEM		;ATVC
@SUBSYSTEM MEC1
@ENDSUBSYSTEM		;MEC1
@SUBSYSTEM MEC2
@ENDSUBSYSTEM		;MEC2
@SUBSYSTEM RA1
@ENDSUBSYSTEM		;RA1
@SUBSYSTEM RA2
@ENDSUBSYSTEM		;RA2
@SUBSYSTEM PayloadBay
  DOOR_PORT 1 1.0000
  DOOR_STBD 1 1.0000
  RADIATOR_PORT 0 0.0000
  RADIATOR_STBD 0 0.0000
  RADLATCH_PORT 0 0.0000
  RADLATCH_STBD 0 0.0000
  DOORLATCH0 1 1.0000
  DOORLATCH1 1 1.0000
  DOORLATCH2 1 1.0000
  DOORLATCH3 1 1.0000
  DOORLATCH4 1 1.0000
  DOORLATCH5 1 1.0000
  DOORLATCH6 1 1.0000
  DOORLATCH7 1 1.0000
  KUBAND 1 1.0000
@ENDSUBSYSTEM		;PayloadBay
@SUBSYSTEM APU1
  APU1_State 0
  APU1_FuelPress 0.000000
  APU1_HydPress 0.000000
  APU1_Speed 0.000000
@ENDSUBSYSTEM		;APU1
@SUBSYSTEM APU2
  APU2_State 0
  APU2_FuelPress 0.000000
  APU2_HydPress 0.000000
  APU2_Speed 0.000000
@ENDSUBSYSTEM		;APU2
@SUBSYSTEM APU3
  APU3_State 0
  APU3_FuelPress 0.000000
  APU3_HydPress 0.000000
  APU3_Speed 0.000000
@ENDSUBSYSTEM		;APU3
@SUBSYSTEM WSB1
@ENDSUBSYSTEM		;WSB1
@SUBSYSTEM WSB2
@ENDSUBSYSTEM		;WSB2
@SUBSYSTEM WSB3
@ENDSUBSYSTEM		;WSB3
@SUBSYSTEM LATCH0
  LATCH_STATE1 1 1.0000
  LATCH_STATE2 1 1.0000
  LATCH_STATE3 1 1.0000
  LATCH_STATE4 1 1.0000
  LATCH_STATE5 1 1.0000
@ENDSUBSYSTEM		;LATCH0
@SUBSYSTEM LATCH1
  LATCH_STATE1 1 1.0000
  LATCH_STATE2 1 1.0000
  LATCH_STATE3 1 1.0000
  LATCH_STATE4 1 1.0000
  LATCH_STATE5 1 1.0000
@ENDSUBSYSTEM		;LATCH1
@SUBSYSTEM LATCH2
  LATCH_STATE1 1 1.0000
  LATCH_STATE2 1 1.0000
  LATCH_STATE3 1 1.0000
  LATCH_STATE4 1 1.0000
  LATCH_STATE5 1 1.0000
@ENDSUBSYSTEM		;LATCH2
@SUBSYSTEM PRSD
  LV011 1.000000
  LV021 1.000000
  LV031 1.000000
  LV041 1.000000
  LV013 1.000000
  LV023 1.000000
  LV024 1.000000
  LV033 1.000000
  LV043 1.000000
  LV044 1.000000
  LV012 1.000000
  LV022 1.000000
@ENDSUBSYSTEM		;PRSD
@SUBSYSTEM VideoControlUnit
  CAMERA_POWER 1 1 1 1 1
  OUTPUT 0
  INPUTS 0 1 0 0 0 0 0 0
@ENDSUBSYSTEM		;VideoControlUnit
@SUBSYSTEM ACA1
@ENDSUBSYSTEM		;ACA1
@SUBSYSTEM ACA2
@ENDSUBSYSTEM		;ACA2
@SUBSYSTEM ACA3
@ENDSUBSYSTEM		;ACA3
@SUBSYSTEM ACA4
@ENDSUBSYSTEM		;ACA4
@SUBSYSTEM ACA5
@ENDSUBSYSTEM		;ACA5
@SUBSYSTEM RMS
  ARM_STATUS 0.591454 0.530389 0.515451 0.108334 0.567282 0.157746
  SHOULDER_BRACE 0.000000
  GRAPPLE 0 0.0000
  RIGIDIZE 0 0.0000
  EXTEND 0 0.0000
  RMS_ELBOW_CAM 0.0000 0.0000
  RMS_ROLLOUT 1 1.0000
  RMS_LATCHES 1 1.0000
  RMS_ATTACHED_PAYLOAD Leonardo 1
@ENDSUBSYSTEM		;RMS
@SUBSYSTEM STBD_MPM
  STBD_MPM_ROLLOUT 1 1.0000
  STBD_MPM_LATCHES 0 0.0000
  STBD_MPM_ATTACHED_PAYLOAD Ultra_OBSS 0
@ENDSUBSYSTEM		;STBD_MPM
@SUBSYSTEM ODS
  RING_STATE -1 0.0000
@ENDSUBSYSTEM		;ODS
@SUBSYSTEM DeployedAssembly
  ALPHA 124.300000
  BETA -27.500000
@ENDSUBSYSTEM		;DeployedAssembly
@SUBSYSTEM ElectronicsAssembly1
@ENDSUBSYSTEM		;ElectronicsAssembly1
@SUBSYSTEM ElectronicsAssembly2
@ENDSUBSYSTEM		;ElectronicsAssembly2
@SUBSYSTEM DragChute
@ENDSUBSYSTEM		;DragChute
  @PANEL F2
  "Drag Chute ARM Cover" [0]
  "Drag Chute DPY Cover" [0]
  "HUD Mode" NORM
  "HUD Brightness" [2]
  "HUD Bright" AUTO
  @ENDPANEL 
  @PANEL F3
  "Drag Chute ARM Cover" [0]
  "Drag Chute DPY Cover" [0]
  "Drag Chute JETT Cover" [0]
  "HUD Power CDR" OFF
  "HUD Power PLT" OFF
  @ENDPANEL 
  @PANEL F4
  "Drag Chute JETT Cover" [0]
  "HUD Mode" NORM
  "HUD Brightness" [2]
  "HUD Bright" AUTO
  @ENDPANEL 
  @PANEL F6
  @OBJECT "CDR1"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @OBJECT "CDR2"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  "Cdr Flt Cntlr Pwr" OFF
  "ADI Attitude" LVLH
  "ADI Error" MED
  "ADI Rate" MED
  "Landing Gear ARM Cover" [0]
  "Landing Gear DN Cover" [0]
  @ENDPANEL 
  @PANEL F7
  @OBJECT "CRT1"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @OBJECT "CRT2"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @OBJECT "CRT3"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @OBJECT "MFD1"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @OBJECT "MFD2"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @ENDPANEL 
  @PANEL F8
  @OBJECT "PLT1"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @OBJECT "PLT2"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  "Plt Flt Cntlr Pwr" OFF
  "ADI Attitude" LVLH
  "ADI Error" MED
  "ADI Rate" MED
  "Landing Gear ARM Cover" [0]
  "Landing Gear DN Cover" [0]
  @ENDPANEL 
  @PANEL L1
  "Fire Suppression Av Bay 1 Disch Agent Cover" [0]
  "Fire Suppression Av Bay 2 Disch Agent Cover" [0]
  "Fire Suppression Av Bay 3 Disch Agent Cover" [0]
  @ENDPANEL 
  @PANEL C2
  "IDP/CRT 1 Power" ON
  "IDP/CRT 2 Power" ON
  "IDP/CRT 3 Power" ON
  "IDP/CRT 1 Maj Func" GNC
  "IDP/CRT 2 Maj Func" GNC
  "IDP/CRT 3 Maj Func" GNC
  "Left CRT Sel" 1
  "Right CRT Sel" 2
  "Event Timer Mode" Down
  @ENDPANEL 
  @PANEL C3
  "LOMS Arm" ARM/PRESS
  "ROMS Arm" ARM/PRESS
  "BFC CRT Display" OFF
  "BFC CRT Select" 2+3
  "LADP Stow Enable" INHIBIT
  "RADP Stow Enable" INHIBIT
  "LADP Deploy" STOW
  "RADP Deploy" STOW
  "MAIN ENGINE LIMIT SHUT DN" AUTO
  "SSME Left S/D PB Cover" [0]
  "SSME Ctr S/D PB Cover" [0]
  "SSME Right S/D PB Cover" [0]
  "SRB Separation" AUTO
  "SRB Separation PB Cover" [0]
  "ET Separation" AUTO
  "ET Separation PB Cover" [0]
  @ENDPANEL 
  @PANEL R2
  "Boiler1 N2 Supply" OFF
  "Boiler2 N2 Supply" OFF
  "Boiler3 N2 Supply" OFF
  "Boiler1 Power" OFF
  "Boiler2 Power" OFF
  "Boiler3 Power" OFF
  "Boiler1 Cntlr/Htr" OFF
  "Boiler2 Cntlr/Htr" OFF
  "Boiler3 Cntlr/Htr" OFF
  "APU1 Operate" OFF
  "APU2 Operate" OFF
  "APU3 Operate" OFF
  "Hyd Main Pump Press 1" LOW
  "Hyd Main Pump Press 2" LOW
  "Hyd Main Pump Press 3" LOW
  "APU1 Cntlr Pwr" OFF
  "APU2 Cntlr Pwr" OFF
  "APU3 Cntlr Pwr" OFF
  "APU1 Fuel Tank Valve" CLOSE
  "APU2 Fuel Tank Valve" CLOSE
  "APU3 Fuel Tank Valve" CLOSE
  "ET Umb Centerline Latch" GND
  "ET Umb Left Door" OFF
  "ET Umb Left Door Latch" OFF
  "ET Umb Right Door" OFF
  "ET Umb Right Door Latch" OFF
  "MPS Pwr Left AC2" [0]
  "MPS Pwr Ctr AC1" [0]
  "MPS Pwr Right AC3" [0]
  "MPS Pwr Left AC3" [0]
  "MPS Pwr Ctr AC2" [0]
  "MPS Pwr Right AC1" [0]
  "MPS He Isol A Left" GPC
  "MPS He Isol A Ctr" GPC
  "MPS He Isol A Right" GPC
  "MPS He Isol B Left" GPC
  "MPS He Isol B Ctr" GPC
  "MPS He Isol B Right" GPC
  "MPS PRPLT Dump Sequence" GPC
  "MPS PRPLT Backup LH2 vlv" GPC
  "Pneu L Eng He XOVR" GPC
  "Pneu He Isol" GPC
  "He Interconnect Left" GPC
  "He Interconnect Ctr" GPC
  "He Interconnect Right" GPC
  "LH2 Ullage Press" AUTO
  @ENDPANEL 
  @PANEL R1
  "Ess Bus Source MN B/C" OFF
  "Ess Bus Source MN C/A" OFF
  "Ess Bus Source MN A/B" OFF
  "Ess Bus Source FC 1" OFF
  "Ess Bus Source FC 2" OFF
  "Ess Bus Source FC 3" OFF
  "AC Bus Snsr 1" OFF
  "AC Bus Snsr 2" OFF
  "AC Bus Snsr 3" OFF
  "Payload Cabin" OFF
  "Payload Aux Cover" [0]
  "Payload Aux" OFF
  "Payload Aft MN B" OFF
  "Payload Aft MN C" OFF
  "O2 TK1 Heaters A" OFF
  "O2 TK1 Heaters B" OFF
  "O2 TK2 Heaters A" OFF
  "O2 TK2 Heaters B" OFF
  "O2 TK3 Heaters A" OFF
  "O2 TK3 Heaters B" OFF
  "H2 TK1 Heaters A" OFF
  "H2 TK1 Heaters B" OFF
  "H2 TK2 Heaters A" OFF
  "H2 TK2 Heaters B" OFF
  "H2 TK3 Heaters A" OFF
  "H2 TK3 Heaters B" OFF
  @ENDPANEL 
  @PANEL O1
  @ENDPANEL 
  @PANEL O2
  "Cryo O2 Htr Assy Temp" TK 1 1
  "Cryo Press Qty" TK1
  "Fuel Cell Stack Temp" 2
  @ENDPANEL 
  @PANEL O3
  "RCS/OMS/PRESS" OMS PRPLT
  "RCS/OMS PRPLT QTY" OMS OXID
  "Mission Timer" MET
  @ENDPANEL 
  @PANEL O6
  "L GLRSHLD FLOOD" VAR
  "S TRK DR CNTL SYS1 Cover" [0]
  "S TRK DR CNTL SYS2 Cover" [0]
  "S TRK DR CNTL SYS1" OFF
  "S TRK DR CNTL SYS2" OFF
  "Annunciator Bus Select ACA 1" MN A
  "Annunciator Bus Select ACA 2/3" MN B
  "GPC_POWER_1_COVER" [0]
  "GPC_POWER_2_COVER" [0]
  "GPC_POWER_3_COVER" [0]
  "GPC_POWER_4_COVER" [0]
  "GPC_POWER_5_COVER" [0]
  "GPC POWER 1" OFF
  "GPC POWER 2" OFF
  "GPC POWER 3" OFF
  "GPC POWER 4" OFF
  "GPC POWER 5" OFF
  "GPC_OUTPUT_1_COVER" [0]
  "GPC_OUTPUT_2_COVER" [0]
  "GPC_OUTPUT_3_COVER" [0]
  "GPC_OUTPUT_4_COVER" [0]
  "GPC_OUTPUT_5_COVER" [0]
  "GPC OUTPUT 1" NORMAL
  "GPC OUTPUT 2" NORMAL
  "GPC OUTPUT 3" NORMAL
  "GPC OUTPUT 4" NORMAL
  "GPC OUTPUT 5" NORMAL
  "IPL SOURCE" OFF
  "GPC MODE 1" STBY
  "GPC MODE 2" STBY
  "GPC MODE 3" STBY
  "GPC MODE 4" STBY
  "GPC MODE 5" STBY
  @ENDPANEL 
  @PANEL O8
  "Radar Altimeter 1" OFF
  "Radar Altimeter 2" OFF
  @ENDPANEL 
  @PANEL O17
  "EIU L-C" OFF
  "EIU C-R" OFF
  "EIU R-L" OFF
  "MEC 1 Power" OFF
  "MEC 2 Power" OFF
  @ENDPANEL 
  @PANEL A1U
  "SLEW RATE" SLOW
  "CONTROL" PANEL
  "STEERING MODE" MAN SLEW
  "POWER" OFF
  "MODE" RDR PASSIVE
  "RADAR OUTPUT" LOW
  @ENDPANEL 
  @PANEL AftMDU
  @OBJECT "AFD"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  @ENDPANEL 
  @PANEL A2
  "DIGI DIS SELECT" EL/AZ
  "X-PNTR SCALE" X10
  @ENDPANEL 
  @PANEL A4
  "Mission Timer" MET
  @ENDPANEL 
  @PANEL A6U
  "SENSE" -X
  "Aft Flt Cntlr Pwr" ON
  "Payload Retention Logic Power Sys 1" ON
  "Payload Retention Logic Power Sys 2" ON
  "Payload Ret Latch 1" OFF
  "Payload Ret Latch 2" OFF
  "Payload Ret Latch 3" OFF
  "Payload Ret Latch 4" OFF
  "Payload Ret Latch 5" OFF
  "Payload Select" 2
  "ADI Attitude" LVLH
  "ADI Error" MED
  "ADI Rate" MED
  "Annunciator Bus Select" MN C
  "Event Timer Mode" DOWN
  @ENDPANEL 
  @PANEL A7U
  "CAMERA_RATE" HIGH
  "PLBD FLOOD FWD STBD" ON
  "PLBD FLOOD FWD PORT" ON
  "PLBD FLOOD MID STBD" ON
  "PLBD FLOOD MID PORT" ON
  "PLBD FLOOD AFT STBD" ON
  "PLBD FLOOD AFT PORT" ON
  "PLBD FWD BHD" OFF
  "PLBD DOCKING" OFF
  "RMS SPOTLIGHT PORT" OFF
  @ENDPANEL 
  @PANEL A8
  "Port MPM Deploy Cover" [0]
  "Stbd MPM Deploy Cover" [0]
  "Port RMS Latches" OFF
  "Stbd MPM Latches" OFF
  "Port MPM Deploy" OFF
  "Stbd MPM Deploy" OFF
  "EE Mode" OFF
  "RMS SELECT" PORT
  "Parameter" ATTITUDE
  "Joint" WRIST_PITCH
  "RMS Mode" END_EFF
  @ENDPANEL 
  @PANEL A7A3/A8A3
  "SYSTEM POWER MNA" [1]
  "SYSTEM POWER MNB" [1]
  "PYRO POWER MNA" [0]
  "PYRO POWER MNC" [0]
  "SYS1 VENT ISOL" [1]
  "SYS1 VENT" [1]
  "SYS2 VENT ISOL" [1]
  "SYS2 VENT" [1]
  "PSU POWER MNA" [0]
  "PSU POWER MNB" [0]
  "LIGHTS AIRLOCK 1-4" [0]
  "LIGHTS AIRLOCK 2-3" [0]
  "LIGHTS DOCKING TRUSS FWD" [0]
  "LIGHTS DOCKING TRUSS AFT" [0]
  "ARLK/TNL FAN A" [0]
  "ARLK/TNL FAN B" [0]
  "LIGHTS C/L VESTIBULE PORT" [0]
  "LIGHTS C/L VESTIBULE STBD" [0]
  "CNTL PNL PWR A" OFF
  "CNTL PNL PWR B" OFF
  "CNTL PNL PWR C" OFF
  "HTRS/DCU PWR H1" OFF
  "HTRS/DCU PWR H2/DCU" OFF
  "HTRS/DCU PWR H3/DCU" OFF
  "APDS PWR A" OFF
  "APDS PWR B" OFF
  "APDS PWR C" OFF
  "PYROS Ap" OFF
  "PYROS Bp" OFF
  "PYROS Cp" OFF
  "Pyro Commands" [0]
  "APDS Control Commands" [0]
  @ENDPANEL 
  @PANEL R11
  @OBJECT "CRT4"
  DISPLAY 0
  MENU 3
  BRIGHTNESS 0.800000
  @ENDOBJECT
  "IDP/CRT 4 Power" ON
  "IDP/CRT 4 Maj Func" GNC
  @ENDPANEL 
  @PANEL R13L
  "PL Bay Door SYS 1" DISABLE
  "PL Bay Door SYS 2" DISABLE
  "PL Bay Mech PWR SYS 1" ON
  "PL Bay Mech PWR SYS 2" ON
  "PL Bay Door" STOP
  "Latch Control SYS A" OFF
  "Latch Control SYS B" OFF
  "Radiator Control SYS A" OFF
  "Radiator Control SYS B" OFF
  "KU Antenna Direct Stow" OFF
  "KU Antenna" GND
  @ENDPANEL 
END
Leonardo:Leonardo_mplm
  STATUS Orbiting Earth
  RPOS 5756389.597 2899777.923 -1933856.378
  RVEL 3728.2854 -6637.0842 1150.8861
  AROT 45.429 -27.689 129.223
  VROT -0.0012 0.0263 -0.0234
  ATTACHED 1:0,STS-101
  AFCMODE 7
  NAVFREQ 0 0
  XPDR 477
END
Ultra_OBSS:SSU_OBSS
  STATUS Orbiting Earth
  RPOS 5756387.013 2899775.524 -1933852.002
  RVEL 3728.2854 -6637.0842 1150.8861
  AROT 45.444 -27.699 81.047
  VROT 0.0188 0.0184 -0.0234
  ATTACHED 0:1,STS-101
  AFCMODE 7
  NAVFREQ 0 0
END
END_SHIPS

GLS · May 1, 2017

I've seen the LEDs blank before, it happens when the EE hits a singularity at 90º and 270º... I think... I don't have much info on the RMS. :shrug:
Can you revert to r2656 and see if it still happens? That's before I changed an angle conversion in libUltra. I doubt it is the cause, but at least we'll exclude this change now.
If this only occurs at yaw 90/270, then my money is on the singularity and us not "managing" it correctly.

DaveS · May 1, 2017

GLS said:
I've seen the LEDs blank before, it happens when the EE hits a singularity at 90º and 270º... I think... I don't have much info on the RMS. :shrug:
Can you revert to r2656 and see if it still happens? That's before I changed an angle conversion in libUltra. I doubt it is the cause, but at least we'll exclude this change now.
If this only occurs at yaw 90/270, then my money is on the singularity and us not "managing" it correctly.

I reverted back to 2656 and rebuilt the sources and ran the test procedure and it still happens.

GLS · May 1, 2017

DaveS said:
I reverted back to 2656 and rebuilt the sources and ran the test procedure and it still happens.

As expected. Tomorrow I'll take a look at the RMS math... now I need to catch some zzzz or I'll turn into a zombie. :lol:

DaveS · May 1, 2017

I can now confirm that we have a singularity issue with the RMS. It affects the pitch and yaw axes the most. As the pitch LED doesn't blank out when hitting the singularity at 270°s, I was able to see it get worse and worse every time I hit that attitude. After doing it for 3 or so minutes, it was off by almost 17°s.

Donamy · May 1, 2017

Thanks for hanging in there guys !!

GLS · May 1, 2017

Ok, so I finally managed to reproduce the EE attachment issue... IMO it's a weird one. The attachment point direction and orientation, but not the position, seem to disconnect from what we ask them to be via SetAttachmentParams(). The values we put in there are calculated via the MAKEGROUPARRAY animation "scheme", and the values coming out of there are correct... so it seems to be some sort of internal issue with the attachment reference frame, or the payload attachment.
I noticed the attachment is being updated in the OnPostStep() call... it could be that we are updating the attachment at the wrong time and that messes up the payload attachment side due to state propagation and stuff. :shrug:
I'll try to move some code to OnPreStep() to see what happens.

Donamy · May 1, 2017

Questions: Do the star tracker doors work yet ? Also, will the ET burn textures be put in.

GLS · May 2, 2017

Donamy said:
Questions: Do the star tracker doors work yet ?

No.

Donamy said:
Also, will the ET burn textures be put in.

No idea... I think the code exists, but AFAIK we don't have any burn textures.

---------- Post added 05-02-17 at 02:22 PM ---------- Previous post was 05-01-17 at 06:46 PM ----------

GLS said:
I'll try to move some code to OnPreStep() to see what happens.

No joy... :thumbsdown:
I'll try to look at the payload's attachment parameters during the RMS motion to see if they change. Anyway, it's looking like an Orbiter issue to me.

Donamy · May 2, 2017

The SSRMSD has no such issues.

GLS · May 3, 2017

GLS said:
I'll try to look at the payload's attachment parameters during the RMS motion to see if they change.

No changes there...

Whatever causes this already happened in SSU 4.2 and Orbiter 2010. Just did a run with the default Atlantis and can't see any alignment issues. Any suggestions?

DaveS · May 3, 2017

GLS said:
No changes there...
Whatever causes this already happened in SSU 4.2 and Orbiter 2010. Just did a run with the default Atlantis and can't see any alignment issues. Any suggestions?

How are the animation parameters calculated? They stay in perfect alignment. Is there anything different between the animation calculations and the attachment point calculations.

GLS · May 3, 2017

DaveS said:
How are the animation parameters calculated? They stay in perfect alignment. Is there anything different between the animation calculations and the attachment point calculations.

The attachment data is given to us by Orbiter, and it's calculated as we animate the joints, so the motion process AFAIK is (1) calculate new joint angles based on user input, (2) animate the joints and (3) use the Orbiter-updated data to update the attachment. The attachment data looks OK, and it is also used for the EE light position (and I'm sure also for the camera... never checked that view during testing), and that seems fine as well.

DaveS · May 3, 2017

GLS said:
The attachment data is given to us by Orbiter, and it's calculated as we animate the joints, so the motion process AFAIK is (1) calculate new joint angles based on user input, (2) animate the joints and (3) use the Orbiter-updated data to update the attachment. The attachment data looks OK, and it is also used for the EE light position (and I'm sure also for the camera... never checked that view during testing), and that seems fine as well.

Have you checked what differences there are between the SSRMS and the our SRMS?

GLS · May 3, 2017

DaveS said:
Have you checked what differences there are between the SSRMS and the our SRMS?

Not in detail, but I think they are similar.

Donamy · May 3, 2017

Any RMS guru's out there ?

Donamy · May 4, 2017

So the work around is, ... after rotation is finished, attach the payload to something else, with the attachment manager, then reattach to the RMS and the position is fixed.

DaveS · May 4, 2017

Donamy said:
So the work around is, ... after rotation is finished, attach the payload to something else, with the attachment manager, then reattach to the RMS and the position is fixed.

The better workaround is just to ungrapple and regrapple the payload. That resets things. Besides, the shift is very gradual, at least here. The more you pass the singularities the worse it gets. So for now, you just have to avoid going near the singularities.

Donamy · May 4, 2017

Just rotating the EE moves it out of plane. No where near singularities.

DaveS · May 4, 2017

Donamy said:
Just rotating the EE moves it out of plane. No where near singularities.

For me it is gradual and only occurs when moving the EE near singularities. If you get the misalignment just by moving the RMS, then something is seriously wrong.

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