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RMS End Effector attachment point deviation Issue Tools
issueid=1324 05-07-2017 06:29 PM
Addon Developer
RMS End Effector attachment point deviation
After enough times, the RMS End Effector attachment point moves

This is a bug originally reported by Donamy where the RMS End Effector attachment point slips off point. First we thought it was a problem limited to SSU but later efforts have reproduced the same bug in the default Atlantis. This screenshot shows the bug in the effect: https://www.dropbox.com/s/3d2xtwa7zy...S-bug.jpg?dl=0

Here's the steps to reproduce it with the default Atlantis:
  1. Launch the attached scenario
  2. Open up the RMS Control dialog
  3. Yaw the wrist joint 90s or more
  4. Now yaw the wrist back to its pure vertical position
  5. Repeat steps 3 and 4 for about 5 minutes or more, never using time acceleration
  6. Once you have repeated steps 3 and 4 enough times you can see that the MPLM has moved from its correct initial grapple point dead center of the End Effector to be nearly outside it.

Code:
BEGIN_DESC
Current scenario state


Contains the latest simulation state.
END_DESC

BEGIN_ENVIRONMENT
  System Sol
  Date MJD 51982.0897715593
  Help CurrentState_img
END_ENVIRONMENT

BEGIN_FOCUS
  Ship STS-101
END_FOCUS

BEGIN_CAMERA
  TARGET STS-101
  MODE Extern
  POS 1.144821 -44.690708 -33.518032
  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 Orbit
  PROJ Ship
  FRAME Ecliptic
  REF Earth
  TARGET ISS
END_MFD

BEGIN_SHIPS
ISS:ProjectAlpha_ISS
  STATUS Orbiting Earth
  RPOS 6584540.946 288631.640 -1357294.011
  RVEL 729.3189 -7412.7114 1950.8255
  AROT 20.480 38.205 91.501
  VROT -0.0267 -0.0113 -0.0089
  AFCMODE 7
  IDS 0:588 100 1:586 100 2:584 100 3:582 100 4:580 100
  NAVFREQ 0 0
  XPDR 466
END
GL-01:DeltaGlider
  STATUS Landed Earth
  BASE Habana:2
  POS -82.3988276 22.9994604
  HEADING 174.13
  ALT 2.469
  AROT -112.553 -8.844 172.993
  AFCMODE 7
  PRPLEVEL 0:1.000000 1:1.000000
  NAVFREQ 0 0 0 0
  XPDR 0
  HOVERHOLD 0 1 0.0000e+000 0.0000e+000
  GEAR 1.0000 0.0000
  AAP 0:0 0:0 0:0
END
STS-101:Atlantis
  STATUS Orbiting Earth
  RPOS 5865750.426 2697205.564 -1897871.619
  RVEL 3498.2137 -6747.8820 1226.7389
  AROT 46.193 -28.205 80.001
  VROT 0.0214 0.0192 -0.0226
  PRPLEVEL 0:0.982430
  NAVFREQ 586 466
  CONFIGURATION 3
  GEAR 0 0.0000
  ARM_STATUS 0.5915 0.5304 0.5155 0.1083 0.5673 0.1577
  SAT_OFS_X 0.000000
  SAT_OFS_Y 0.000000
  SAT_OFS_Z 0.000000
  CARGODOOR 1 1.0000
  MET 0.000 0.000 0.000 0.000
  ASCENTAP 0 0 1 350000 1.5708 0.00000 0.00000
END
Leonardo:Leonardo_mplm
  STATUS Orbiting Earth
  RPOS 5865752.193 2697205.270 -1897872.518
  RVEL 3498.2137 -6747.8820 1226.7389
  AROT -133.807 28.205 -80.001
  VROT 0.0214 -0.0192 0.0226
  ATTACHED 1:1,STS-101
  AFCMODE 7
  NAVFREQ 0 0
  XPDR 477
END
GL-02:DeltaGlider
  STATUS Landed Mars
  BASE Olympus:3
  POS -135.4300000 12.7366196
  HEADING 0.00
  ALT 2.532
  AROT 81.111 -8.915 -44.736
  AFCMODE 7
  PRPLEVEL 0:1.000000 1:1.000000
  NAVFREQ 0 0 0 0
  XPDR 0
  HOVERHOLD 0 1 0.0000e+000 0.0000e+000
  GEAR 1.0000 0.0000
  AAP 0:0 0:0 0:0
END
SH-01:ShuttleA
  STATUS Landed Moon
  BASE Brighton Beach:1
  POS -33.4375000 41.1184067
  HEADING 0.00
  ALT 3.027
  AROT 64.274 33.319 48.978
  AFCMODE 7
  PRPLEVEL 0:1.000000 1:1.000000
  NAVFREQ 0 0
  XPDR 0
  PODANGLE 0.0000 0.0000
  DOCKSTATE 0 0.0000
  GEAR 0 0.0000
  PAYLOAD MASS 0.0 0
  ATTREF 0 0 0
  ADI_LAYOUT 0
END
END_SHIPS
This bug appears in both Orbiter 2010-P1 and Orbiter 2016 Release(rev. 62). It also been reported in the latest beta version (rev. 65).
Issue Details
Project ORBITER: 2010-P1 and newer
Status Unconfirmed
Priority 1 - Highest
Affected Version Revision denoted in description
Fixed Version (none)
Users able to reproduce bug 1
Users unable to reproduce bug 0
Assigned Users (none)
Tags Vessel Related

05-07-2017 07:13 PM
Conservative Pioneer
 
I can also report that this also affects David's shuttle fleet as well, so this isn't just an addon issue. Something tells me that this is something on Orbiter's end. This means Martin has to fix the core code for attachment points.
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