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Moose Development/Moose/Ops/Auftrag.lua

@@ -59,6 +59,7 @@
 -- @field #number Nelements Number of elements (units) assigned to mission.
 -- @field #number dTevaluate Time interval in seconds before the mission result is evaluated after mission is over.
 -- @field #number Tover Mission abs. time stamp, when mission was over.
+-- @field #boolean updateDCSTask If `true`, DCS task is updated at every status update of the assigned groups.
 -- @field #table conditionStart Condition(s) that have to be true, before the mission will be started.
 -- @field #table conditionSuccess If all conditions are true, the mission is cancelled.
 -- @field #table conditionFailure If all conditions are true, the mission is cancelled.
@@ -68,7 +69,9 @@
 -- @field #number orbitAltitude Orbit altitude in meters.
 -- @field #number orbitHeading Orbit heading in degrees.
 -- @field #number orbitLeg Length of orbit leg in meters.
--- @field Core.Point#COORDINATE orbitRaceTrack Race-track orbit coordinate.
+-- @field DCS#Vec2 orbitOffsetVec2 2D offset vector.
+-- @field DCS#Vec2 orbitVec2 2D orbit vector.
+-- @field #number orbitDeltaR Distance threshold in meters for moving orbit targets.
 --
 -- @field Ops.Target#TARGET engageTarget Target data to engage.
 -- 
@@ -1020,7 +1023,7 @@ end
 --- **[AIR]** Create an ORBIT mission, which can be either a circular orbit or a race-track pattern.
 -- @param #AUFTRAG self
 -- @param Core.Point#COORDINATE Coordinate Where to orbit.
--- @param #number Altitude Orbit altitude in feet. Default is y component of `Coordinate`.
+-- @param #number Altitude Orbit altitude in feet above sea level. Default is y component of `Coordinate`.
 -- @param #number Speed Orbit speed in knots. Default 350 KIAS.
 -- @param #number Heading Heading of race-track pattern in degrees. If not specified, a circular orbit is performed.
 -- @param #number Leg Length of race-track in NM. If not specified, a circular orbit is performed.
@@ -1028,26 +1031,35 @@ end
 function AUFTRAG:NewORBIT(Coordinate, Altitude, Speed, Heading, Leg)
 
   local mission=AUFTRAG:New(AUFTRAG.Type.ORBIT)
-
-  -- Altitude.
+  
+  -- Target.
+  mission:_TargetFromObject(Coordinate)
+  
+  -- Set Altitude.  
   if Altitude then
     mission.orbitAltitude=UTILS.FeetToMeters(Altitude)
   else
     mission.orbitAltitude=Coordinate.y
   end
-  Coordinate.y=mission.orbitAltitude
-
-  mission:_TargetFromObject(Coordinate)
-
-  mission.orbitSpeed = UTILS.KnotsToMps(Speed or 350) -- the DCS Task itself will shortly be build with this so MPS
+    
+  -- Orbit speed in m/s.
+  mission.orbitSpeed   = UTILS.KnotsToMps(Speed or 350)
+  
+  -- Mission speed in km/h.
   mission.missionSpeed = UTILS.KnotsToKmph(Speed or 350)
-
-  if Heading and Leg then
-    mission.orbitHeading=Heading
+  
+  if Leg then
     mission.orbitLeg=UTILS.NMToMeters(Leg)
-    mission.orbitRaceTrack=Coordinate:Translate(mission.orbitLeg, mission.orbitHeading, true)
-  end
 
+    -- Relative heading
+    if Heading and Heading<0 then
+      mission.orbitHeadingRel=true
+      Heading=-Heading
+    end      
+
+    -- Heading if given.
+    mission.orbitHeading=Heading    
+  end
 
   -- Mission options:
   mission.missionAltitude=mission.orbitAltitude*0.9
@@ -1093,6 +1105,32 @@ function AUFTRAG:NewORBIT_RACETRACK(Coordinate, Altitude, Speed, Heading, Leg)
   return mission
 end
 
+--- **[AIR]** Create an ORBIT mission, where the aircraft will fly a circular or race-track pattern over a given group or unit.
+-- @param #AUFTRAG self
+-- @param Wrapper.Group#GROUP Group Group where to orbit around. Can also be a UNIT object.
+-- @param #number Altitude Orbit altitude in feet. Default is 7,000 ft.
+-- @param #number Speed Orbit speed in knots. Default 350 KIAS.
+-- @param #number Leg Length of race-track in NM. Default nil.
+-- @param #number Heading Heading of race-track pattern in degrees. Default is heading of the group.
+-- @param DCS#Vec2 OffsetVec2 Offset 2D-vector in meters with respect to the group. Default `{x=0, y=0}`, *i.e.* directly overhead.
+-- @param #number Distance Threshold distance in meters before orbit pattern is updated. Default 1000 m.
+-- @return #AUFTRAG self
+function AUFTRAG:NewORBIT_GROUP(Group, Altitude, Speed, Leg, Heading, OffsetVec2, Distance)
+
+  Altitude = Altitude or 7000
+
+
+  -- Create orbit mission.
+  local mission=AUFTRAG:NewORBIT(Group, Altitude, Speed, Heading, Leg)
+  
+  mission.updateDCSTask=true
+  mission.orbitOffsetVec2=OffsetVec2 or {x=0, y=0}
+  mission.orbitDeltaR=1000
+
+  return mission
+end
+
+
 --- **[AIR]** Create a Ground Controlled CAP (GCICAP) mission. Flights with this task are considered for A2A INTERCEPT missions by the CHIEF class. They will perform a compat air patrol but not engage by
 -- themselfs. They wait for the CHIEF to tell them whom to engage.
 -- @param #AUFTRAG self
@@ -4970,6 +5008,17 @@ function AUFTRAG:GetTargetCoordinate()
   return nil
 end
 
+--- Get heading of target.
+-- @param #AUFTRAG self
+-- @return #number Heading of target in degrees.
+function AUFTRAG:GetTargetHeading()
+  if self.engageTarget then
+    local heading=self.engageTarget:GetHeading()
+    return heading
+  end
+  return nil
+end
+
 --- Get name of the target.
 -- @param #AUFTRAG self
 -- @return #string Name of the target or "N/A".
@@ -5235,6 +5284,17 @@ function AUFTRAG:_SetLogID()
   return self
 end
 
+
+--- Update DCS task.
+-- @param #AUFTRAG self
+-- @return #AUFTRAG self
+function AUFTRAG:_UpdateTask()
+
+  
+
+  return self
+end
+
 --- Update mission F10 map marker.
 -- @param #AUFTRAG self
 -- @return #AUFTRAG self
@@ -5892,11 +5952,67 @@ function AUFTRAG:GetDCSMissionTask()
     -- ORBIT Mission --
     -------------------
 
-    local Coordinate=self:GetTargetCoordinate()
-
-    local DCStask=CONTROLLABLE.TaskOrbit(nil, Coordinate, self.orbitAltitude, self.orbitSpeed, self.orbitRaceTrack)
-
-    table.insert(DCStasks, DCStask)
+    -- Get/update orbit vector.
+    self.orbitVec2=self:GetTargetVec2()
+    
+    if self.orbitVec2 then
+    
+      -- Check for race-track pattern.
+      local orbitRaceTrack=nil --DCS#Vec2
+      if self.orbitLeg then
+      
+        -- Default heading is due North. 
+        local heading=0
+        
+        -- Check if specific heading was specified.
+        if self.orbitHeading then
+        
+          -- Is heading realtive to target?
+          if self.orbitHeadingRel then
+            -- Get heading of target.
+            local hdg=self:GetTargetHeading()
+            -- Relative heading wrt target.
+            heading=hdg+self.orbitHeading
+          else
+            -- Take given heading.
+            heading=self.orbitHeading
+          end
+          
+        else
+          -- Not specific heading specified ==> Take heading of target.
+          heading=self:GetTargetHeading() or 0        
+        end
+                
+        -- Race-track vector.
+        orbitRaceTrack=UTILS.Vec2Translate(self.orbitVec2, self.orbitLeg, heading)
+        
+        -- Debug show arrow.
+        COORDINATE:NewFromVec2(self.orbitVec2):ArrowToAll(COORDINATE:NewFromVec2(orbitRaceTrack))
+      end
+      
+      local OffsetVec2=self.orbitOffsetVec2 and UTILS.DeepCopy(self.orbitOffsetVec2) or nil
+      if OffsetVec2 then
+      
+        env.info("FF 1000")
+      
+        OffsetVec2.x=self.orbitOffsetVec2.r and self.orbitOffsetVec2.r*math.cos(math.rad(self.orbitOffsetVec2.phi) or 0) or self.orbitOffsetVec2.x
+        OffsetVec2.y=self.orbitOffsetVec2.r and self.orbitOffsetVec2.r*math.sin(math.rad(self.orbitOffsetVec2.phi) or 0) or self.orbitOffsetVec2.y
+        
+      end
+      
+      -- Actual orbit position with possible offset.
+      local orbitVec2=OffsetVec2 and UTILS.Vec2Add(self.orbitVec2, OffsetVec2) or self.orbitVec2
+      
+      -- Debug
+      local coord=COORDINATE:NewFromVec2(self.orbitVec2):MarkToAll("Orbit Center")
+      
+      -- Create orbit task.
+      local DCStask=CONTROLLABLE.TaskOrbit(nil, orbitVec2, self.orbitAltitude, self.orbitSpeed, orbitRaceTrack)
+  
+      -- Add DCS task.
+      table.insert(DCStasks, DCStask)
+      
+    end
 
   end
 
@@ -6083,6 +6199,8 @@ function AUFTRAG.CheckMissionCapabilityAll(MissionTypes, Capabilities)
   return res
 end
 
+
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Moose Development/Moose/Ops/FlightGroup.lua

@@ -899,6 +899,43 @@ function FLIGHTGROUP:Status()
       end
     end
     
+    -- Get current mission (if any).
+    local mission=self:GetMissionCurrent()
+    
+    -- If mission, check if DCS task needs to be updated.
+    if mission and mission.updateDCSTask then
+    
+      -- Orbit missions might need updates.
+      if mission:GetType()==AUFTRAG.Type.ORBIT and mission.orbitVec2 then
+          
+        -- Get 2D vector of orbit target.
+        local vec2=mission:GetTargetVec2()
+        
+        -- Distance to previous position.
+        local dist=UTILS.VecDist2D(vec2, mission.orbitVec2)
+        
+        -- Debug info.
+        self:I(self.lid..string.format("FF Checking orbit mission dist=%d meters", dist))
+        
+        -- Check if distance is larger than threshold.
+        if dist>mission.orbitDeltaR then
+        
+          -- Update DCS task. This also sets the new mission.orbitVec2.
+          local DCSTask=mission:GetDCSMissionTask() --DCS#Task
+          
+          -- Get task.
+          local Task=self:GetTaskByID(mission.auftragsnummer)
+          
+          -- Reset current orbit task.
+          self.controller:resetTask()
+          
+          -- Push task after one second. We need to give resetTask some time or it will not work!
+          self:_SandwitchDCSTask(DCSTask, Task, false, 1)
+          
+        end
+      end    
+    end
+    
   
     -- TODO: _CheckParking() function
   

Moose Development/Moose/Ops/OpsGroup.lua

@@ -4070,6 +4070,23 @@ function OPSGROUP:onafterTaskExecute(From, Event, To, Task)
   -- Get mission of this task (if any).
   local Mission=self:GetMissionByTaskID(self.taskcurrent)
 
+
+  self:_UpdateTask(Task, Mission)
+
+  -- Set AUFTRAG status.
+  if Mission then
+    self:MissionExecute(Mission)
+  end
+
+end
+
+--- Push task
+-- @param #OPSGROUP self
+-- @param Ops.OpsGroup#OPSGROUP.Task Task The task.
+function OPSGROUP:_UpdateTask(Task, Mission)
+
+  local Mission=Mission or self:GetMissionByTaskID(self.taskcurrent)
+
   if Task.dcstask.id==AUFTRAG.SpecialTask.FORMATION then
 
     -- Set of group(s) to follow Mother.
@@ -4434,39 +4451,8 @@ function OPSGROUP:onafterTaskExecute(From, Event, To, Task)
         ---
         DCSTask=Task.dcstask
       end
-
-      local DCStasks={}
-      if DCSTask.id=='ComboTask' then
-        -- Loop over all combo tasks.
-        for TaskID, Task in ipairs(DCSTask.params.tasks) do
-          table.insert(DCStasks, Task)
-        end
-      else
-        table.insert(DCStasks, DCSTask)
-      end
-
-      -- Combo task.
-      local TaskCombo=self.group:TaskCombo(DCStasks)
-
-      -- Stop condition!
-      local TaskCondition=self.group:TaskCondition(nil, Task.stopflag:GetName(), 1, nil, Task.duration)
-
-      -- Controlled task.
-      local TaskControlled=self.group:TaskControlled(TaskCombo, TaskCondition)
-
-      -- Task done.
-      local TaskDone=self.group:TaskFunction("OPSGROUP._TaskDone", self, Task)
-
-      -- Final task.
-      local TaskFinal=self.group:TaskCombo({TaskControlled, TaskDone})
-
-      -- Set task for group.
-      -- NOTE: I am pushing the task instead of setting it as it seems to keep the mission task alive.
-      --       There were issues that flights did not proceed to a later waypoint because the task did not finish until the fired missiles
-      --       impacted (took rather long). Then the flight flew to the nearest airbase and one lost completely the control over the group.
-      self:PushTask(TaskFinal)
-      --self:SetTask(TaskFinal)
-
+      
+      self:_SandwitchDCSTask(DCSTask, Task)
 
     elseif Task.type==OPSGROUP.TaskType.WAYPOINT then
       -- Waypoint tasks are executed elsewhere!
@@ -4475,15 +4461,62 @@ function OPSGROUP:onafterTaskExecute(From, Event, To, Task)
     end
 
   end
+  
+end
 
+--- Sandwitch DCS task in stop condition and push the task to the group.
+-- @param #OPSGROUP self
+-- @param DCS#Task DCSTask The DCS task.
+-- @param Ops.OpsGroup#OPSGROUP.Task Task
+-- @param #boolean SetTask Set task instead of pushing it.
+-- @param #number Delay Delay in seconds. Default nil.
+function OPSGROUP:_SandwitchDCSTask(DCSTask, Task, SetTask, Delay)
 
-  -- Set AUFTRAG status.
-  if Mission then
-    self:MissionExecute(Mission)
+  if Delay and Delay>0 then
+    -- Delayed call.
+    self:ScheduleOnce(Delay, OPSGROUP._SandwitchDCSTask, self, DCSTask, Task, SetTask)    
+  else
+
+    local DCStasks={}
+    if DCSTask.id=='ComboTask' then
+      -- Loop over all combo tasks.
+      for TaskID, Task in ipairs(DCSTask.params.tasks) do
+        table.insert(DCStasks, Task)
+      end
+    else
+      table.insert(DCStasks, DCSTask)
+    end
+    
+    -- Combo task.
+    local TaskCombo=self.group:TaskCombo(DCStasks)
+    
+    -- Stop condition!
+    local TaskCondition=self.group:TaskCondition(nil, Task.stopflag:GetName(), 1, nil, Task.duration)
+    
+    -- Controlled task.
+    local TaskControlled=self.group:TaskControlled(TaskCombo, TaskCondition)
+    
+    -- Task done.
+    local TaskDone=self.group:TaskFunction("OPSGROUP._TaskDone", self, Task)
+    
+    -- Final task.
+    local TaskFinal=self.group:TaskCombo({TaskControlled, TaskDone})
+    
+    -- Set task for group.
+    -- NOTE: I am pushing the task instead of setting it as it seems to keep the mission task alive.
+    --       There were issues that flights did not proceed to a later waypoint because the task did not finish until the fired missiles
+    --       impacted (took rather long). Then the flight flew to the nearest airbase and one lost completely the control over the group.
+    if SetTask then
+      self:SetTask(TaskFinal)
+    else
+      self:PushTask(TaskFinal)
+    end
+    
   end
 
 end
 
+
 --- On after "TaskCancel" event. Cancels the current task or simply sets the status to DONE if the task is not the current one.
 -- @param #OPSGROUP self
 -- @param #string From From state.

Moose Development/Moose/Ops/Target.lua

@@ -1019,7 +1019,7 @@ function TARGET:GetTargetLife(Target)
 
 end
 
---- Get current life points.
+--- Get current total life points. This is the sum of all target objects.
 -- @param #TARGET self
 -- @return #number Life points of target.
 function TARGET:GetLife()
@@ -1221,6 +1221,89 @@ function TARGET:GetTargetVec3(Target, Average)
   self:E(self.lid.."ERROR: Unknown TARGET type! Cannot get Vec3")
 end
 
+--- Get heading of the target.
+-- @param #TARGET self
+-- @param #TARGET.Object Target Target object.
+-- @return #number Heading in degrees.
+function TARGET:GetTargetHeading(Target)
+
+  if Target.Type==TARGET.ObjectType.GROUP then
+  
+    local object=Target.Object --Wrapper.Group#GROUP
+
+    if object and object:IsAlive() then
+      local heading=object:GetHeading()
+
+      if heading then
+        return heading
+      else
+        return nil
+      end
+    else
+    
+      return nil
+
+    end
+
+  elseif Target.Type==TARGET.ObjectType.UNIT then
+  
+    local object=Target.Object --Wrapper.Unit#UNIT
+
+    if object and object:IsAlive() then
+      local heading=object:GetHeading()
+      return heading
+    else
+      return nil
+    end
+  
+  elseif Target.Type==TARGET.ObjectType.STATIC then
+  
+    local object=Target.Object --Wrapper.Static#STATIC
+  
+    if object and object:IsAlive() then
+      local heading=object:GetHeading()
+      return heading
+    else
+      return nil
+    end
+
+  elseif Target.Type==TARGET.ObjectType.SCENERY then
+  
+    local object=Target.Object --Wrapper.Scenery#SCENERY
+  
+    if object then
+      local heading=object:GetHeading()
+      return heading
+    else
+      return nil
+    end
+    
+  elseif Target.Type==TARGET.ObjectType.AIRBASE then
+  
+    local object=Target.Object --Wrapper.Airbase#AIRBASE
+    
+    -- Airbase has no real heading. Return 0. Maybe take the runway heading?
+    return 0
+    
+  elseif Target.Type==TARGET.ObjectType.COORDINATE then
+  
+    local object=Target.Object --Core.Point#COORDINATE
+  
+    -- A coordinate has no heading. Return 0.
+    return 0
+    
+  elseif Target.Type==TARGET.ObjectType.ZONE then
+  
+    local object=Target.Object --Core.Zone#ZONE
+  
+    -- A zone has no heading. Return 0.
+    return 0
+        
+  end
+
+  self:E(self.lid.."ERROR: Unknown TARGET type! Cannot get heading")
+end
+
 
 --- Get target coordinate.
 -- @param #TARGET self
@@ -1378,7 +1461,7 @@ function TARGET:GetAverageCoordinate()
   for _,_target in pairs(self.targets) do
     local Target=_target --#TARGET.Object
     
-    local coordinate=self:GetTargetCoordinate(Target,true)
+    local coordinate=self:GetTargetCoordinate(Target, true)
     
     if coordinate then
       return coordinate
@@ -1390,6 +1473,26 @@ function TARGET:GetAverageCoordinate()
   return nil
 end
 
+--- Get heading of target.
+-- @param #TARGET self
+-- @return #number Heading of the target in degrees.
+function TARGET:GetHeading()
+
+  for _,_target in pairs(self.targets) do
+    local Target=_target --#TARGET.Object
+    
+    local heading=self:GetTargetHeading(Target)
+    
+    if heading then
+      return heading
+    end
+
+  end
+
+  self:E(self.lid..string.format("ERROR: Cannot get heading of target %s", tostring(self.name)))
+  return nil
+end
+
 --- Get category.
 -- @param #TARGET self
 -- @return #string Target category. See `TARGET.Category.X`, where `X=AIRCRAFT, GROUND`.
@@ -1397,6 +1500,7 @@ function TARGET:GetCategory()
   return self.category
 end
 
+
 --- Get target category.
 -- @param #TARGET self
 -- @param #TARGET.Object Target Target object.

Moose Development/Moose/Wrapper/Controllable.lua

@@ -1259,7 +1259,7 @@ end
 
 --- (AIR) Orbit at a position with at a given altitude and speed. Optionally, a race track pattern can be specified.
 -- @param #CONTROLLABLE self
--- @param Core.Point#COORDINATE Coord Coordinate at which the CONTROLLABLE orbits.
+-- @param Core.Point#COORDINATE Coord Coordinate at which the CONTROLLABLE orbits. Can also be given as a `DCS#Vec3` or `DCS#Vec2` object.
 -- @param #number Altitude Altitude in meters of the orbit pattern. Default y component of Coord.
 -- @param #number Speed Speed [m/s] flying the orbit pattern. Default 128 m/s = 250 knots.
 -- @param Core.Point#COORDINATE CoordRaceTrack (Optional) If this coordinate is specified, the CONTROLLABLE will fly a race-track pattern using this and the initial coordinate.
@@ -1268,11 +1268,11 @@ function CONTROLLABLE:TaskOrbit( Coord, Altitude, Speed, CoordRaceTrack )
 
   local Pattern = AI.Task.OrbitPattern.CIRCLE
 
-  local P1 = Coord:GetVec2()
+  local P1 = {x=Coord.x, y=Coord.z or Coord.y}
   local P2 = nil
   if CoordRaceTrack then
     Pattern = AI.Task.OrbitPattern.RACE_TRACK
-    P2 = CoordRaceTrack:GetVec2()
+    P2 = {x=CoordRaceTrack.x, y=CoordRaceTrack.z or CoordRaceTrack.y}
   end
 
   local Task = {