FlightControl-Master/MOOSE
1
0
Fork 0
mirror of https://github.com/FlightControl-Master/MOOSE.git synced 2025-10-29 16:58:06 +00:00
Code Issues Packages Projects Releases Wiki Activity

OPS

Browse Source 
**OPSGROUP**
- Improved routing for ground.

**NAVYGROUP**
- Fixed U-turn of turn into wind

**ARMYGROUP**
- Improved updateroute

**LEGION** and **COMMANDER**
- Set mission range LARGE for relocation mission

**AUFTRAG**
- Fixed bug in Nassets for relocation
This commit is contained in:
Frank
2022-05-17 22:50:35 +02:00
parent 64e70d8e92
commit 47c3fc35e3
10 changed files with 194 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files

105
Moose Development/Moose/Ops/ArmyGroup.lua
View File

@@ -1005,32 +1005,65 @@ end
-- @param #number Formation Formation of the group.
function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Formation)
-- Debug info.
local text=string.format("Update route state=%s: n=%s, N=%s, Speed=%s, Formation=%s", self:GetState(), tostring(n), tostring(N), tostring(Speed), tostring(Formation))
self:T(self.lid..text)
-- Update route from this waypoint number onwards.
n=n or self:GetWaypointIndexNext(self.adinfinitum)
-- Max index.
N=N or #self.waypoints
N=N or #self.waypoints
N=math.min(N, #self.waypoints)
-- Debug info.
local text=string.format("Update route state=%s: n=%s, N=%s, Speed=%s, Formation=%s", self:GetState(), tostring(n), tostring(N), tostring(Speed), tostring(Formation))
self:T(self.lid..text)
-- Waypoints.
-- Waypoints including addtional wp onroad.
local waypoints={}
local formationlast=nil
for i=n, #self.waypoints do
-- Next waypoint.
local wp=self.waypoints[n] --Ops.OpsGroup#OPSGROUP.Waypoint
-- Formation at the current position.
local formation0=wp.action
if formation0==ENUMS.Formation.Vehicle.OnRoad then
if wp.roadcoord then
if wp.roaddist>10 then
formation0=ENUMS.Formation.Vehicle.OffRoad
end
else
formation0=ENUMS.Formation.Vehicle.OffRoad
end
end
-- Current point.
local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation0) --ENUMS.Formation.Vehicle.OffRoad)
table.insert(waypoints, 1, current)
-- Loop over waypoints.
for j=n, N do
-- Index of previous waypoint.
local i=j-1
-- If we go to the first waypoint j=1 ==> i=0, so we take the last waypoint passed. E.g. when adinfinitum and passed final waypoint.
if i==0 then
i=self.currentwp
end
-- Next waypoint.
local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
local wp=UTILS.DeepCopy(self.waypoints[j]) --Ops.OpsGroup#OPSGROUP.Waypoint
-- Previous waypoint. Index is i and not i-1 because we added the current position.
local wp0=self.waypoints[i] --Ops.OpsGroup#OPSGROUP.Waypoint
--local text=string.format("FF Update: i=%d, wp[i]=%s, wp[i-1]=%s", i, wp.action, wp0.action)
--env.info(text)
-- Speed.
if Speed then
wp.speed=UTILS.KnotsToMps(tonumber(Speed))
else
-- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
if wp.speed<0.1 then --self.adinfinitum and
-- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
if wp.speed<0.1 then
wp.speed=UTILS.KmphToMps(self.speedCruise)
end
end
@@ -1041,9 +1074,23 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Formation)
elseif Formation then
wp.action=Formation
end
-- Add waypoint in between because this waypoint is "On Road" but lies "Off Road".
if wp.action==ENUMS.Formation.Vehicle.OnRoad and wp.roaddist>10 then
if wp.action==ENUMS.Formation.Vehicle.OnRoad and wp0.roaddist>=0 then
--env.info("FF adding waypoint0 on road #"..i)
-- Add "On Road" waypoint in between.
local wproad=wp0.roadcoord:WaypointGround(UTILS.MpsToKmph(wp.speed), ENUMS.Formation.Vehicle.OnRoad) --Ops.OpsGroup#OPSGROUP.Waypoint
-- Insert road waypoint.
table.insert(waypoints, wproad)
end
-- Add waypoint in between because this waypoint is "On Road" but lies "Off Road".
if wp.action==ENUMS.Formation.Vehicle.OnRoad and wp.roaddist>=0 then
--env.info("FF adding waypoint on road #"..i)
-- The real waypoint is actually off road.
wp.action=ENUMS.Formation.Vehicle.OffRoad
@@ -1053,13 +1100,11 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Formation)
-- Insert road waypoint.
table.insert(waypoints, wproad)
end
end
-- Add waypoint.
table.insert(waypoints, wp)
-- Last formation.
formationlast=wp.action
table.insert(waypoints, wp)
end
-- First (next wp).
@@ -1069,29 +1114,18 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, N, Speed, Formation)
self.option.Formation=wp.action
-- Current set speed in m/s.
self.speedWp=wp.speed
local formation0=wp.action==ENUMS.Formation.Vehicle.OnRoad and ENUMS.Formation.Vehicle.OnRoad or wp.action
-- Current point.
local current=self:GetCoordinate():WaypointGround(UTILS.MpsToKmph(self.speedWp), formation0)
table.insert(waypoints, 1, current)
-- Insert a point on road.
if wp.action==ENUMS.Formation.Vehicle.OnRoad and (wp.coordinate or wp.roadcoord) then
current=self:GetClosestRoad():WaypointGround(UTILS.MpsToKmph(self.speedWp), ENUMS.Formation.Vehicle.OnRoad)
table.insert(waypoints, 2, current)
end
self.speedWp=wp.speed
-- Debug output.
if self.verbose>=10 then
--if true then
for i,_wp in pairs(waypoints) do
local wp=_wp --Ops.OpsGroup#OPSGROUP.Waypoint
local text=string.format("WP #%d UID=%d type=%s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.uid and wp.uid or -1, wp.type, wp.speed, wp.alt, wp.action)
local text=string.format("WP #%d UID=%d Formation=%s: Speed=%d m/s, Alt=%d m, Type=%s", i, wp.uid and wp.uid or -1, wp.action, wp.speed, wp.alt, wp.type)
local coord=COORDINATE:NewFromWaypoint(wp):MarkToAll(text)
self:I(text)
end
end
@@ -1722,7 +1756,10 @@ end
-- @param #boolean Updateroute If true or nil, call UpdateRoute. If false, no call.
-- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation, Updateroute)
-- Debug info.
self:T(self.lid..string.format("AddWaypoint Formation = %s",tostring(Formation) or "none"))
-- Create coordinate.
local coordinate=self:_CoordinateFromObject(Coordinate)