Hi @ all!
Real Life Pilots flies insane Aerobatics!https://www.youtube.com/watch?v=4k_nAvMY7MI
first things first: Thanks for the help here in the forum especially Sirnoname and leonpro!
Also to Bergison und Dirty for some great Idears!
Very much thanks to the Motion Cancelling Tool "OpenVR INput Emulator" from Maxman666,
VR tracking and alignment works like a charme with the HTC Vive , VivePro, and Valve Index.
Carrier launch and some Aerobatics with VR in DCS World:https://youtu.be/bPhuUdkOJoU
Insane Carrier landing CASE1 and lowlevel Flight:https://www.youtube.com/watch?v=KVLRzDHfJWs
Some light dogfight:https://www.youtube.com/watch?v=QI70pLFY7gQ
Customer riding the Simulator (funny screams):https://drive.google.com/file/d/10k8d8W ... mungo/view
First Vid of Belt-tension System (WIP)https://drive.google.com/open?id=1EjWV2 ... 04WvdRZoSp
And here old vid with only one Axis 360°:
NOP first time with VR Headset (Visitor flight via Track Replay)https://drive.google.com/open?id=0B2LQi ... lZlU1pkQkE
Aerobatics Fun (Motion Controller works now quit fast and precise)https://adobe.ly/2Mthm4P
Airrace firsttime max. roll rate.https://drive.google.com/open?id=0B2LQi ... TNiX25fVWM
Nevada NOP first 360° but huge delay, not precise.https://drive.google.com/open?id=0B2LQi ... WdkanZhZ0k
I'm flying in DCS World mostly together with a Virtual Wing (vJaBoG32).Background and concept: 3DOF 360° Motion Sim
It may look like but this Monster is not a funny roller coaster
The main goal is to reach a perfect Situation Awarness (SA) for mill. Missions.
E.g. if you are doing Bombruns, Night OPs, Dogfights or Aerobatics it´s very easy to get disorientated.
In a real Airplane you have many little helps to stay orientated (and sometime to get disorientated also)
but in a pure PC-Simulation you don´t have these helps, but i want to have them!
And this is the reason for 360° 3DOF - you simply feel you´re flying inverted - even if you are in fog hole!
However this is not realistic...in a real Fighterjet you mostly have positive Gs (heave or Z Axis).
Everythings else like Yaw, Sway, Surge forces are tiny effects in relation to the huge positive Gs (assumed your are doing millitary or aerobatic flights).
Thougt i was very surprised how realistic the 3DOF feels - in VR a constant pitch Up feels like +2.5G and a sudden pitch down almost feels like Zero G.
But a 70° to 120° Rollangle (levelflight) dosn´t feel realistic at all , cause it feels like a 1G sideslip.
Therefor i builded a strong seatbelt fastener to simulate heave (constant positive Gs), also known as Harness Tension System.
NASA worked this out in the 80is:https://drive.google.com/open?id=109o7P ... yO-2f5eE8e
And this works very good! Although only the belt buckle is tightened by a small belt, the pressure of 80kg is distributed very cleanly on shoulders, chest, thighs and pelvis.
You can hardly feel that a pull in the middle of your legs is the source of the Gs
Each G is clearly noticeable. At max. Gs i almost lose the air, although the objective pressure on the body is only a fraction of the real Gs.
With a sustained 4G loop there is even enough pressure (on the butt) to provide the feeling of positive Gs!
You'll find the detailed HowTo for the Tension System here:viewtopic.php?f=37&t=1890&start=20#p24188But why not a 6DOF MotionSim?
Even a Stewart hexa can´t do constant rollrates, loops, Pitch Ups, invert, or just stay in the correct bank angle.
Particularly with VR you feel every false Degree between Real Life Angles and InGame Angles.
Fast OnSet cuing dosn´t work good for me - it brakes immersion and causing motion sickness in VR.
However i use the Pitch and Roll Axis to simulate certain g-forces like slip, sway and lateral velocity (surge).
On a Carrier Launch the Jetpilot feels +0.9 G velocity. I can simulate this 1:1 via pitch up the Basket with ~80°.
Same thing on Carrier Landings: 2.6G decelerate...ok, ok i can only simulate -1G deceleration with pitch down 90°.
But both things a thrilling and exhausting with 1G for sure!And this is maybe the most important part why 360°
It is thrilling like RL flying! My first real life loop scared me in the same way this simulator did !
Not to mention how thrilling LowLevel Flight suddenly becomes - same like real even if Gs are far away!
But having a blast when going vertical and doing a Split-S? You bet!
Actually I do (or do not) make the same mistakes both in the simulator and real life, so this biest is a great teacher to me.
But in the End of the Day it is exhausting - this simulator gives you a small clue what real fighterpilots must accomplish.
With motion On i will never win a MP Dogfight again
So this is nothing i you could ever get with 6DOF hexa sim...even a flight in a Full Motion Level D simulator with very steep
maneuvers couldn't convince me.
Also pure VR is not enough, because VR is only optically like reality and causing motionsickness for most people...yes indeed:
With accurate motion the VR Motion Sickness is gone!
Also the Airplane movements and rollrates and G-force triggers the vesicular system - creating the sensation of thrille, panic and immersion like in a real airplane. The VR View itself is not enough to achive this.
This is also confirmed by some real life Pilots flying in this Simulator.Some Datas:
The Pit-Basket (Rollaxis: weight: 160kg + 100kg me), Pitch Axis (90kg) and Mainframe (120kg).
Material is steel 40x40x4mm, Round tube 140mm/4mm. Size is now 240cm x 220x 250cm
Some shooping list:
- 3x Elegoo Uno R3. Dont use Arduino! The Elegoo seems to have a more stable VDC. This is important to prevent spikes and runaways while going over 360°. Also somehow the PID Settings works better with Elegoo. https://www.amazon.de/Entwicklungsplati ... 01EWOE0UU/
- 3x Hallsensor (Poti 360° endless)https://www.megatron.de/produkte/weiter ... ab25a.html
- 3x Sabertooth 2x60 + 1x Sabertooth 2x15https://www.dimensionengineering.com/pr ... rtooth2x60
- 4x 12V / 35AH Car Batterie in parallel as 2x 24V Power source
- 2x 12V 7AH for Belt Tension System
- 1x 24V 350W 300rpm DC Brushed DC Motor for the Belt-Tension Systemhttps://www.ebay.de/itm/DC-Getriebemoto ... 1438.l2649Roll Axis:https://www.transtecno.com/en-en/gearbo ... otor-ecmb/
1x Gearbox ECMB 600/502 Ratio 1/42,75
CMB 633 U 47.16 D=25mm 71 B14 M1
1x Actuator: EC 600.240 800W @ S2; 3000rpm 24V 71 B14 (strongest available)
Actuator input flange: 71B14
Rated 60A and 120Nm (peak ~ 250Nm) with max. 65 RPM under load. 24V DC / 800W rated (peak ~2400W)Pitch Axis:https://www.transtecno.com/en-en/gearbo ... tors-ecmg/
1x Gearbox ECMG 600/022 U Ratio 1:29.93 D25 240
1x Actuator: EC 600.240 800W @ S2; 3000rpm 24V 71 B14 (strongest available)
Actuator input flange: 71B14
Attention! I connected the Gearbox with a chain drive to the Pitchaxis, ratio 1:2 (so halfes rpm)
Nm peak ~ 450Nm
For order contact:email@example.com
You have to run a (small) business or they won´t deliver.Heave Axis:https://www.transtecno.com/en-en/gearbo ... tors-ecmg/
1x DC Motor 24V with 350W and 320rpm.:https://www.ebay.de/itm/DC-Getriebemoto ... 0631562943
1x Chainbelt drive with ratio 1:3 to get 100rpm with about 80Nm on the drive shaft.
2x Bearing block 25mm:https://www.ebay.de/itm/4-Stueck-UCP205 ... 1589861281
1x Driveshaft d=25mm, 100mm
1x Sabertooth 2x60 and Arduino Uno
1x Hallsensor (Pot 360° endless)
1x Aramid or Cevlar belt 15mm / 1m long
I just fixed the Aramid belt on the drive shaft an the other end on the belt buckle. Attention!
Actuators may not fit for your sim. Much depending on centre of gravity, Power source, H-Bridge, Basketweight, Pilots weight, Chains and so on.
You have to calculate the needed Nm for each axis. Then look at the tables from transtecno and look for this Nm value.
Now you know ratio and the rpm with load. If rpm is to low, just choose gearbox with higher rpm (max. +20%).
This will work because the DC Actuators can be overdriven by 100% PWR. However the gearbox will suffer a little bit.
Don´t choose wormgear drives! They are selflooking. This will cause stutters, jitters and finally break the drive shaft.Centre of gravity
If you don't have money for Highpower Servos with 3KW you have to deal with ~1000W. This doas only work out if you keep in mind that you (pilot) are by far the heaviest weight in the Cockpit. So it is quite easy to achieve perfect balance by shifting the seat position. Also a offset from the bank/pitch axis may even help you balance your own Bodyweight. However, this is accompanied by other advantages or disadvantages. Especially the inner ear is very sensitive to the offset position to the centre of the axis. Here is little drawing that may explain the problem:Turnrates:
A rated 800W DC Brushed Accurator is enough for Flight Simulation, cause you can squeeze out 2600W peak without damage.
You will get accelerations up 200°/sec with a 100kg heavy Pit + 90kg Pilot.
A real strong gearbox with the correct ratio (75 rpm with 250Nm are perfect) is important to get this values and to stand the stress e.g. full stops or hard dogfights!
More Power is not possible due the H-Bridge. Even the Saabertooth can not pull more the 90A @24V for a sec. So i can´t feed more PWR to the Actuator.
Another important thing is centre of gravity. All my Axis are near perfect balanced (on my weight), which was...let´s say just luck
This makes the hole system very responsive, fine and saves a lot of energy! Runtime:
I can fly for 10h continuously with 4x 35ah Batteries.
When you are unable to mechanical balance your Axis, i would even recommend to add weight to sort this out!
This makes everything so much easier with the PID Controller.Some Frame specs:
Pitch Axis shaft drive: d=80mm ; t=10mm; l=1200mm
Roll Axis shaft drive: d=60mm ; t=20mm; l= 300mm
Gears- and Accurators shaft drive: d=25mm (minimum!)
Pitch Axis frame round tube: d=140mm ; t=4mm (minimum!)
Main- and Roll Axis frame L-Profil: 40mm x 40mm x 4mm (better would be 30x30x4mm square profil!)
I use a big double chain for the Pitch axis. It is much easyer to assamble and to get the perfect gear ratio.
Also it is safer, sturdy and your gear box has less stress. The little more weight dosn´t really matter.
For the roll axis i use a direct drive axis through the gearbox. This reduce weight, latency, adds stiffnes, but ratio can´t be changed.
The Pitch axis has a one side bearing (U-Frame). This reduce roomspace but adds much weight and is not easy to build...ok and it looks just better *g.Signal Concept / Game Value Export:
Thanks to leonpro who made the DCS profile for x-sim
The data extracting and input setup working very fine!As far as i know THIS is the ONLY Solution that works at the moment!*
I tryed the other simulation software, but they don´t support 360°, at least not with H-Bridges.
Also BFF Simulation and Thanos doas not support 350°.
However this is not a perfect solution:
The X-Sim XPID Controller is very difficult to setup:
1. Use the default PID and Range Settings first (4.5;0.4;0.4; 2-1022)
Only with this settings there is no spike and runaway while going over 360°.
And this is only the case if the Voltage Range provided to the Hall-Sensor is 0V - 5V precise!
I use a adjustable Power adapter which supports direct the Hall-Sensor (don´t use Arduino/Elegoo VDC)
2. Use the OLD LockOn Plugin (exe and dll). Rename it to DCSPlugin.exe so the X-Sim Extrator can use it.
This old Plugin is faster and has less delay then the new DCSPlugin. However there is a Spikebug in the Yaw Acc Value (which dosn´t bother me)
3. When everythings works like it should, you can carefully ajust the PID Seetings e.g. to get smoother response.
But this is limited, because the Spike over 360° or a steady state error or runaways, shown up quickly again.*UPDATE: I just installed the Sabertooth 2x60 with the Kangaroo Motion Driver in my testdrive:https://www.dimensionengineering.com/products/kangaroo
and it looks like this works with 360° BUT
only using a high-res incremental sensor
(realtive tracking - no absolute angle sensor, min. 8000 steps per round). Also a Z (or I) Impulse is needed for alignment.
If this works all issues with PID, stutters would be gone!
Update again: hmmpf, Z-index doasn´t work as it should. Still need homing procedures with x-sim and this is very violent (100% pwr to start and end position). Also even with Kangaroo PID Tuning, very small stutters are still a issue.
However the Kangaroo works perfect together with x-sim and i use it for the Belt Tension System together with a cheap incremental sensor.
From DCS via export.lua to Import-Plugin:http://www.x-sim.de/forum/viewtopic.php?f=79&t=309
From there to X-SIM Math / USO Setup.
Then installing Sirnonames XPID Firmeware for Arduino Uno / Sabertooth:http://www.x-sim.de/forum/viewtopic.php?f=39&t=723
From Arduino to h-Bridge Sabertooth 2x60 and
to DC brushed Motor.
Feedback via Hallsensor:http://www.megatron.de/produkte/hall-ef ... ab25a.html
I use this values to get the Bank rate out of DCS:
local pitch, bank, yaw = LoGetADIPitchBankYaw()
local vel = LoGetVerticalVelocity()Stearing:
You will need a real good Flighstick to enjoy the motion. So my Warthog Thrustmaster is extended (35cm) and damped by adjustable motorcycle handlebar dampers...very nice feeling, soft as butter and still a lot of resistance, much closer to reality, ideal for rotorheads. I can only recommend (thx to Bergison for the ingenious idea). With a stronger damper setting you also have a trim system!
However, there is almost no centerforce left because the dampers are much stronger then the native Warthog springs. Therefore you may add springs on both sides of the dampers to gain centerforce again (picture on the bottom).Tactile perception:
IBEAM Bodyshaker + Subwoofer + Surround Sound System. This is very important for the Immersion! Headsets, even the best, won´t work because you need huge amplitudes to get realistic kicks and vibrations. But a Headset is still important for radio com.
I use the SimShaker Software:https://forums.eagle.ru/showthread.php?t=175028
to get Effects like Gau-8 Burst, TouchDown, Bumbs, Stalls/Buffets, AirBrakes, ...
This Signals can be addapted for different Airplanes and Bodyshakers. It work´s like a charm and without any delay.
Air Condition: I use a cheap own from China with 3000W heating and 180W cooling. This is enough to simulate some climate (e.g. Startup in Nevada or High Altitude Flight in a P-51). However the Air condition is manually remote controlled, maybe some day i read out DCS Temperature to get proper control Position vs OnSet Cues plus what axis are imporant for flight sims:
In short, OnSet Cues are used to simulate the real G acceleration of an aircraft as accurately as possible. Which actually works...but unfortunately only for about a second because then the range of the actuators runs out.
To simulate constant G acceleration, the Cockpit position is often used. For example, if you tilt the cockpit 20° backwards, the pilot has the feeling of a surge accelerating with about 0.5G. This also works, but logically only up to max. 1G (and with some false inputs then)
In order to simulate the extremely strong G-forces during flight you need centrifuges or pressure/pull systems.
With very good simulators these different systems are combined to use all advantages.
Here is a short overview which axes and forces are important for millitary and aerobatic flying (imho).
1. Heave (vertical acceleration with mix of OnSet/Position/Pressure Systems)
Most important for a realistic flight feeling. By far the strongest force feelt in real live. Constant heave Gs are the only way to feel the energie state of your Aircraft. Also speed and G load applied. And heave provides this like "floating on clouds" feeling.
2. Roll position
Very imporant for proper flight feeling, (SA) situation awarness and coordination. Without unlimited Bank there is no way to simulate the real fear, thrille and adrenalin.
3. Pitch position: less imporatant for SA or coordination, but man it doas most of the fun
Going vertical, doing a Split S, or feel + 0.9G vertical acc doing a carrier takeoff is just a blast!
4. Surge OnSet: minor thing for SA but very important for proper close formation flying, A-A refueling, speed indication.
Also makes fun while fusing the Afterburner or Airbrakes.
5. Sway OnSet: nice while taxi on ground and helps coordination in crosswinds or many aerobatics manuvers. Don't use Sway to simulate Bank position - not good at all.
6. Yaw Position: minor thing unless you are doing extrem aerobatics like tailslide, hammerhead, flatspin. Some simulators use a offset yaw-axis to archive positive Gs (centrifuge) VR with Motion
Basically all VR glasses track absolute. I.e. if your plane rolls with 45°, then the 45° real cockpit angles add up with the 45° angles of the InGame View.
So optical it looks as if you are flying at a 90° angle. This leads to motion sickness instantly. But there is a solution called motion cancelling:https://github.com/matzman666/OpenVR-InputEmulator
This App simply subtract the e.g. 45° RL angle again. Motion cancelling works only with the HTC Vive (Pro) and Valve Index and (as far as i know) with Pimax 5k at the moment.
For a perfect 2x 360° tracking you need 3 Lighthouse Stations (Type 2). When short grayouts are ok, while doing a loop or roll, you can go with two Lighthouse Stations (type 1 or 2).Pitch Problem (Euler Angle Bug):
If you pitch up the Aircraft in DCS for 90° the Bankaxis flips suddenly to 180° and afterwards the Pitch Axis is inverted.
This is the same behavior as the artificial horizont instrument in the aircraft doas.
If you have three axis (Pitch, Bank, Yaw) this is not a problem because the yaw axis counters the bank flip!Heads UP Pilots!
With this Export.lua for DCS World you can counter this Effekt!https://drive.google.com/open?id=1Z7dsO ... EkotDJPCys
You can make forward / backward / inverted loops as you like,
For example, you can cancel the climb at 80° PitchUp,
You can even roll a bit at 90° pitch,
You can go up to 4 degrees off the track through the vertical.
If you don´t hit vertical the "normal" Bankflip occours and Pitch will decrease as "normal".
Some rare miss behaviors and small stutters are still a issue, but you know...
Safety and security
With 360°, 200kg Basket and 230V AC even small mistakes can end deadly.
- So include a separate, super sensitive FI switch directly in front of the rotary grinder between the main power line.
I have not experienced any unwanted offs or voltage fluctuations so far.
However i recommend to use a DC ATX 24V power supply!https://www.minipc.de/de/catalog/il/2707
So with this you don´t need the deadly 230V AC!
Everything include the 12V CAR AMP can be powered with this.
Please not that you need sliprings that can handle 60 Amps!
If you don't use DC ATX then:
- Use ONLY tested rotary unions that are really designed for 230V (up to 700V peak)!https://www.slipring.cn/Capsule-Slip-Rings-56-1.html
And extremely fast fuse + FI switch! Use a PRCD-S Circuit Breaker!https://www.amazon.de/gp/product/B007K4 ... UTF8&psc=1
- Emergency stop switch: To switch off the 24V current I built a power relay between the actuator and the battery. From the pit a 12V control signal goes over two signal lines to the relays. If the control signal is cut by the stop switch, the power relays disconnect the 24V load current.
- Roll bar and basket: Worst case would be if an axle, bearing or drive mount breaks while your flying invertet. So install a stable roll basket which protects your head from any impact!
- Heavy duty anchor: I have installed 12 of them in the floor and walls to keep the Simulator in place.
- Emergency brake system: Via wireless con. and a self-sufficient battery I control two 25mm bolts on a linear motor, which drill into the walls
and frames. This stops any movement. Why wireless? How do you want to release the brake if the axle or signal cable tears apart?
- Helmet, 5 point seat-belt and alarm button are mandatory. Installing HTC Vive or Index in a pilot's helmet works just as well!
Installed in a Helmet you do not have to worry about a slipping VR Headset while going invertet. Chinbelt works also.
- Emergency lighting is really good in case of AC Power loose.
- Don't use more then max. 3kW actuator. Or at least make very sure that the motor don't get more power then 3000W peak. Why?
2000W brake your bones, but you will survive likely. But at 5000W everthing is just ripped apart instantly.