Plane keeps flickering
Posted: 29 May 2024, 08:12
Hello everyone! This is my first post on this forum so please pardon any mistakes. I am also new to CoppeliaSim.
I am trying to simulate the landing the process of a UAV on a slow moving platform. Currently, my scene looks like this:
There are 2 issues I want to solve.
1. The red plane moves along the path at a constant velocity of 1 m/s. When it reaches the end of the path, it reverses velocity to move at -1 m/s. However, when the plane moves, it keep constantly flickering. The aruco marker does not flicker. Only the red plane keeps flickering. I tried to change the heights of the aruco marker and the plane to solve this issue but it did not work. Currently, the plane is at 0.002 m and the aruco marker is at 0.0022 m from the ground. How do I fix this?
2. When the landing marker reaches the end of its path, it immediately reverses its direction. How can I make the landing marker deaccelerates from a certain distance such that it stops when it reaches the end of the path and gradually accelerates upto 1 m/s?
Threaded child script code for the path -
Any help would be appreciated. Thank you in advance!
I am trying to simulate the landing the process of a UAV on a slow moving platform. Currently, my scene looks like this:
There are 2 issues I want to solve.
1. The red plane moves along the path at a constant velocity of 1 m/s. When it reaches the end of the path, it reverses velocity to move at -1 m/s. However, when the plane moves, it keep constantly flickering. The aruco marker does not flicker. Only the red plane keeps flickering. I tried to change the heights of the aruco marker and the plane to solve this issue but it did not work. Currently, the plane is at 0.002 m and the aruco marker is at 0.0022 m from the ground. How do I fix this?
2. When the landing marker reaches the end of its path, it immediately reverses its direction. How can I make the landing marker deaccelerates from a certain distance such that it stops when it reaches the end of the path and gradually accelerates upto 1 m/s?
Threaded child script code for the path -
Code: Select all
#python
import numpy as np
def sysCall_init():
sim = require('sim')
self.end = False
self.objectToFollowPath = sim.getObject('/Landing_Surface')
self.path = sim.getObject('/Path')
pathData = sim.unpackDoubleTable(sim.readCustomDataBlock(self.path, 'PATH'))
m = np.array(pathData).reshape(len(pathData) // 7, 7)
self.pathPositions = m[:, :3].flatten().tolist()
self.pathQuaternions = m[:, 3:].flatten().tolist()
self.pathLengths, self.totalLength = sim.getPathLengths(self.pathPositions, 3)
self.velocity = 1.0 # m/s
self.posAlongPath = 0
self.previousSimulationTime = 0
sim.setStepping(True)
def sysCall_thread():
while not sim.getSimulationStopping():
t = sim.getSimulationTime()
if self.end == False and self.posAlongPath < self.totalLength:
self.posAlongPath += self.velocity * (t - self.previousSimulationTime)
elif self.posAlongPath > 0:
self.posAlongPath -= self.velocity * (t - self.previousSimulationTime)
self.end = True
elif self.posAlongPath <= 0:
self.posAlongPath += self.velocity * (t - self.previousSimulationTime)
self.end = False
#self.posAlongPath %= self.totalLength
pos = sim.getPathInterpolatedConfig(self.pathPositions, self.pathLengths, self.posAlongPath)
quat = sim.getPathInterpolatedConfig(self.pathQuaternions, self.pathLengths,
self.posAlongPath, None, [2, 2, 2, 2])
sim.setObjectPosition(self.objectToFollowPath, pos, self.path)
sim.setObjectQuaternion(self.objectToFollowPath, quat, self.path)
self.previousSimulationTime = t
#print(self.posAlongPath, self.totalLength)
sim.step()# resume in next simulation step
#pass
# See the user manual or the available code snippets for additional callback functions and details