mirror of
https://github.com/FlightControl-Master/MOOSE.git
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AIRBOSS v0.3.0
RESCUEHELO v0.9.2 RECOVERYTANKER v0.9.2
This commit is contained in:
Frank
@@ -1,11 +1,13 @@
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--- **Functional** - (R2.5) - Rescue helo.
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--
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-- Recue helicopter on an aircraft carrier.
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-- Recue helicopter for carrier operations.
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--
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-- Features:
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--
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-- * Formation with carrier.
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-- * Automatic respawning on empty fuel.
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-- * Close formation with carrier.
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-- * Carrier can have any number of waypoints.
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-- * Automatic respawning on empty fuel for 24/7 operations.
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-- * Automatic rescuing of crashed or ejected units in the vicinity.
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--
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-- Please not that his class is work in progress and in an **alpha** stage.
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--
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@@ -24,13 +26,14 @@
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-- @field #string helogroupname Name of the late activated helo template group.
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-- @field Wrapper.Group#GROUP helo Helo group.
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-- @field #number takeoff Takeoff type.
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-- @field Wrapper.Airbase#AIRBASE airbase The airbase object of the carrier.
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-- @field Wrapper.Airbase#AIRBASE airbase The airbase object acting as home base of the helo.
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-- @field Core.Set#SET_GROUP followset Follow group set.
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-- @field AI.AI_Formation#AI_FORMATION formation AI_FORMATION object.
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-- @field #number lowfuel Low fuel threshold of helo in percent.
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-- @field #number altitude Altitude of helo in meters.
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-- @field #number offsetX Offset in meters to carrier in longitudinal direction.
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-- @field #number offsetZ Offset in meters to carrier in latitudinal direction.
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-- @field Core.Zone#ZONE_RADIUS rescuezone Zone around the carrier in which helo will rescue crashed or ejected units.
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-- @extends Core.Fsm#FSM
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--- Rescue Helo
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@@ -45,7 +48,7 @@
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--
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-- @field #RESCUEHELO
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RESCUEHELO = {
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ClassName = "RESCUEHELO",
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ClassName = "RESCUEHELO",
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carrier = nil,
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carriertype = nil,
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helogroupname = nil,
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@@ -58,20 +61,22 @@ RESCUEHELO = {
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altitude = nil,
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offsetX = nil,
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offsetZ = nil,
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rescuezone = nil,
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}
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--- Class version.
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-- @field #string version
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RESCUEHELO.version="0.9.1"
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RESCUEHELO.version="0.9.2"
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO list
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- TODO: Add option to stop carrier while rescue operation is in progress.
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-- TODO: Possibility to add already present/spawned aircraft, e.g. for warehouse.
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-- TODO: Write documenation.
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-- TODO: Add rescue event when aircraft crashes.
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-- TODO: Make offset input parameter.
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-- DONE: Add rescue event when aircraft crashes.
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-- DONE: Make offset input parameter.
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Constructor
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@@ -87,6 +92,7 @@ function RESCUEHELO:New(carrierunit, helogroupname)
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-- Inherit everthing from FSM class.
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local self = BASE:Inherit(self, FSM:New()) -- #RESCUEHELO
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-- Catch case when just the unit name is passed.
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if type(carrierunit)=="string" then
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self.carrier=UNIT:FindByName(carrierunit)
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else
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@@ -98,10 +104,7 @@ function RESCUEHELO:New(carrierunit, helogroupname)
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-- Helo group name.
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self.helogroupname=helogroupname
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-- Home airbase of helo
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self.airbase=AIRBASE:FindByName(self.carrier:GetName())
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-- Init defaults.
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self:SetHomeBase(AIRBASE:FindByName(self.carrier:GetName()))
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self:SetTakeoffHot()
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@@ -109,6 +112,7 @@ function RESCUEHELO:New(carrierunit, helogroupname)
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self:SetAltitude()
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self:SetOffsetX()
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self:SetOffsetZ()
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self:SetRescueZone()
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-----------------------
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--- FSM Transitions ---
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@@ -120,10 +124,11 @@ function RESCUEHELO:New(carrierunit, helogroupname)
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-- Add FSM transitions.
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-- From State --> Event --> To State
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self:AddTransition("Stopped", "Start", "Running")
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self:AddTransition("Running", "Rescue", "Rescuing")
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self:AddTransition("Running", "RTB", "Returning")
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self:AddTransition("Returning", "Status", "*")
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self:AddTransition("Running", "Status", "*")
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self:AddTransition("Running", "Stop", "Stopped")
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self:AddTransition("*", "Run", "Running")
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self:AddTransition("*", "Status", "*")
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self:AddTransition("*", "Stop", "Stopped")
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--- Triggers the FSM event "Start" that starts the rescue helo. Initializes parameters and starts event handlers.
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@@ -135,6 +140,17 @@ function RESCUEHELO:New(carrierunit, helogroupname)
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-- @param #RESCUEHELO self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Rescue" that sends the helo on a rescue mission to a specifc coordinate.
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-- @function [parent=#RESCUEHELO] Rescue
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-- @param #RESCUEHELO self
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-- @param Core.Point#COORDINATE RescueCoord Coordinate where the resue mission takes place.
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--- Triggers the delayed FSM event "Rescue" that sends the helo on a rescue mission to a specifc coordinate.
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-- @function [parent=#RESCUEHELO] __Rescue
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-- @param #RESCUEHELO self
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-- @param #number delay Delay in seconds.
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-- @param Core.Point#COORDINATE RescueCoord Coordinate where the resue mission takes place.
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--- Triggers the FSM event "RTB" that sends the helo home.
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-- @function [parent=#RESCUEHELO] RTB
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-- @param #RESCUEHELO self
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@@ -144,6 +160,15 @@ function RESCUEHELO:New(carrierunit, helogroupname)
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-- @param #RESCUEHELO self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Run".
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-- @function [parent=#RESCUEHELO] Run
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-- @param #RESCUEHELO self
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--- Triggers the delayed FSM event "Run".
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-- @function [parent=#RESCUEHELO] __Run
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-- @param #RESCUEHELO self
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-- @param #number delay Delay in seconds.
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--- Triggers the FSM event "Stop" that stops the rescue helo. Event handlers are stopped.
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-- @function [parent=#RESCUEHELO] Stop
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-- @param #RESCUEHELO self
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@@ -178,12 +203,21 @@ function RESCUEHELO:SetHomeBase(airbase)
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return self
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end
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--- Set rescue zone radius. Crashed or ejected units inside this radius of the carrier will be rescued.
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-- @param #RESCUEHELO self
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-- @param #number radius Radius of rescue zone in meters. Default is 100000 m = 100 km.
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-- @return #RESCUEHELO self
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function RESCUEHELO:SetRescueZone(radius)
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self.rescuezone=ZONE_UNIT:New("Rescue Zone", self.carrier, radius or 100000)
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return self
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end
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--- Set takeoff type.
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-- @param #RESCUEHELO self
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-- @param #number takeofftype Takeoff type.
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-- @param #number takeofftype Takeoff type. Default SPAWN.Takeoff.Hot.
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-- @return #RESCUEHELO self
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function RESCUEHELO:SetTakeoff(takeofftype)
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self.takeoff=takeofftype
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self.takeoff=takeofftype or SPAWN.Takeoff.Hot
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return self
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end
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@@ -239,20 +273,109 @@ function RESCUEHELO:SetOffsetZ(distance)
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end
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--- Check if tanker is returning to base.
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--- Check if helo is returning to base.
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-- @param #RESCUEHELO self
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-- @return #boolean If true, helo is returning to base.
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function RESCUEHELO:IsReturning()
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return self:is("Returning")
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end
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--- Check if tanker is operating.
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--- Check if helo is operating.
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-- @param #RESCUEHELO self
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-- @return #boolean If true, helo is operating.
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function RESCUEHELO:IsRunning()
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return self:is("Running")
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end
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--- Check if helo is on a rescue mission.
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-- @param #RESCUEHELO self
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-- @return #boolean If true, helo is rescuing somebody.
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function RESCUEHELO:IsRescuing()
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return self:is("Rescuing")
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- EVENT functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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--- Handle landing event of rescue helo.
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-- @param #RESCUEHELO self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function RESCUEHELO:OnEventLand(EventData)
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local group=EventData.IniGroup --Wrapper.Group#GROUP
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if group:IsAlive() then
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local groupname=group:GetName()
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if groupname:match(self.helogroupname) then
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-- Respawn the Helo.
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self:I(string.format("Respawning rescue helo group %s at home base.", groupname))
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if self.takeoff==SPAWN.Takeoff.Air then
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self:E("ERROR: Rescue helo %s landed. This should not happen for Takeoff=Air!", groupname)
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else
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-- Respawn helo at current airbase.
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self.helo=group:RespawnAtCurrentAirbase()
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end
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-- Restart the formation.
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self:__Run(10)
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end
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end
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end
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--- A unit crashed or a player ejected.
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-- @param #RESCUEHELO self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function RESCUEHELO:_OnEventCrashOrEject(EventData)
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self:F2({eventdata=EventData})
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-- NOTE: Careful here. Eject and crash events will probably happen for the same unit!
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-- Check that there is an initiating unit in the event data.
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if EventData and EventData.IniUnit then
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-- Crashed or ejected unit.
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local unit=EventData.IniUnit
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local unitname=tostring(EventData.IniUnitName)
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-- Check that it was not the rescue helo itself that crashed.
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if EventData.IniGroupName~=self.helo:GetName() then
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-- Debug.
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self:T(string.format("Unit %s crashed or ejected.", unitname))
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-- Unit "alive" and in our rescue zone.
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if unit:IsAlive() and unit:IsInZone(self.rescuezone) then
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-- Get coordinate of crashed unit.
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local coord=unit:GetCoordinate()
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-- Debug mark on map.
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coord:MarkToCoalition(string.format("Crash site of unit %s.", unitname), self.helo:GetCoalition())
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-- Only rescue if helo is "running" and not, e.g., rescuing already.
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if self:IsRunning() then
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self:Rescue(coord)
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end
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end
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else
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self:I(string.format("Rescue helo %s crashed!", unitname))
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end
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end
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- FSM states
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@@ -270,7 +393,8 @@ function RESCUEHELO:onafterStart(From, Event, To)
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-- Handle events.
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--self:HandleEvent(EVENTS.Birth)
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self:HandleEvent(EVENTS.Land)
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--self:HandleEvent(EVENTS.Crash)
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self:HandleEvent(EVENTS.Crash, self._OnEventCrashOrEject)
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self:HandleEvent(EVENTS.Ejection, self._OnEventCrashOrEject)
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-- Delay before formation is started.
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local delay=120
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@@ -356,7 +480,7 @@ function RESCUEHELO:onafterStatus(From, Event, To)
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self:I(text)
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-- If fuel < threshold ==> send helo to home base!
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if fuel<self.lowfuel then
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if fuel<self.lowfuel and self:IsRunning() then
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self:RTB()
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end
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@@ -364,47 +488,60 @@ function RESCUEHELO:onafterStatus(From, Event, To)
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self:__Status(-60)
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end
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--- On after Stop event. Unhandle events and stop status updates.
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--- On after "Run" event. FSM will go to "Running" state. If formation is topped, it will be started again.
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-- @param #RESCUEHELO self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function RESCUEHELO:onafterStop(From, Event, To)
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--self:UnHandleEvent(EVENTS.Birth)
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self:UnHandleEvent(EVENTS.Land)
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function RESCUEHELO:onafterRun(From, Event, To)
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-- Restart formation if stopped.
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if self.formation:Is("Stopped") then
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self.formation:Start()
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end
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end
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--- Handle landing event of rescue helo.
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--- On after "Rescue" event. Helo will fly to the given coordinate, orbit there for 5 minutes and then return to the carrier.
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-- @param #RESCUEHELO self
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-- @param Core.Event#EVENTDATA EventData Event data.
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function RESCUEHELO:OnEventLand(EventData)
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local group=EventData.IniGroup --Wrapper.Group#GROUP
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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-- @param Core.Point#COORDINATE RescueCoord Coordinate where the rescue should happen
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function RESCUEHELO:onafterRescue(From, Event, To, RescueCoord)
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-- Debug message.
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local text=string.format("Helo %s is send to rescue mission.", self.helo:GetName())
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self:I(text)
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if group:IsAlive() then
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local groupname=group:GetName()
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-- Waypoint array.
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local wp={}
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if groupname:match(self.helogroupname) then
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-- Respawn the Helo.
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self:I(string.format("Respawning rescue helo group group %s at home base.", groupname))
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if self.takeoff==SPAWN.Takeoff.Air then
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self:E("ERROR: Rescue helo %s landed. This should not happen for Takeoff=Air!", groupname)
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else
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-- Respawn helo at current airbase.
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self.helo=group:RespawnAtCurrentAirbase()
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end
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-- Restart the formation.
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self.formation:__Start(10)
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end
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end
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--local RescueTask=self.helo:TaskControlled(self.helo:TaskOrbitCircle(20, 2, RescueCoord), self.helo:TaskCondition(nil, nil, nil, nil, 5*60, nil))
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-- Rescue task: Orbit at crash site for 5 minutes.
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local RescueTask={}
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RescueTask.id="ControlledTask"
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RescueTask.params={}
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RescueTask.params.task=self.helo:TaskOrbit(RescueCoord, 20, 2)
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RescueTask.params.stopCondition={duration=300}
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-- Set Waypoints.
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wp[1]=self.helo:GetCoordinate():WaypointAirTurningPoint(nil, 200, {}, "Current Position")
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wp[2]=RescueCoord:SetAltitude(50):WaypointAirTurningPoint(nil, 200, {RescueTask}, "Crash Site")
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wp[3]=self.airbase:GetCoordinate():SetAltitude(70):WaypointAirLanding(200, self.airbase, {}, "Land at Home Base")
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-- Initialize WP and route tanker.
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self.helo:WayPointInitialize(wp)
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-- Set task.
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self.helo:Route(wp, 1)
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-- Stop formation.
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self.formation:Stop()
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end
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--- On before RTB event. Check if takeoff type is air and if so respawn the helo and deny RTB transition.
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-- @param #RESCUEHELO self
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-- @param #string From From state.
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@@ -414,6 +551,7 @@ end
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function RESCUEHELO:onbeforeRTB(From, Event, To)
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if self.takeoff==SPAWN.Takeoff.Air then
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-- For takeoff in air, we just respawn the helo with full fuel.
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-- Debug message.
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local text=string.format("Respawning rescue helo group %s in air.", self.helo:GetName())
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@@ -438,25 +576,38 @@ end
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function RESCUEHELO:onafterRTB(From, Event, To)
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-- Debug message.
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local text=string.format("Helo %s returning to airbase %s.", self.helo:GetName(), self.airbase:GetName())
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local text=string.format("Rescue helo %s is returning to airbase %s.", self.helo:GetName(), self.airbase:GetName())
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self:I(text)
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local waypoints={}
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-- Waypoint array.
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local wp={}
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-- Set landingwaypoint
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local wp=self.carrier:GetCoordinate():WaypointAirLanding(300, self.airbase, nil, "Landing")
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table.insert(waypoints, wp)
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-- Set landing waypoint at home base.
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wp[1]=self.helo:GetCoordinate():WaypointAirTurningPoint(nil, 300, {}, "Current Position")
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wp[2]=self.airbase:GetCoordinate():SetAltitude(70):WaypointAirLanding(300, self.airbase, {}, "Landing at Home Base")
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-- Initialize WP and route tanker.
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self.helo:WayPointInitialize(waypoints)
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self.helo:WayPointInitialize(wp)
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-- Set task.
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self.helo:Route(waypoints, 1)
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self.helo:Route(wp, 1)
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-- Stop formation.
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self.formation:Stop()
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end
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--- On after Stop event. Unhandle events and stop status updates.
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-- @param #RESCUEHELO self
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-- @param #string From From state.
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-- @param #string Event Event.
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-- @param #string To To state.
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function RESCUEHELO:onafterStop(From, Event, To)
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self:UnHandleEvent(EVENTS.Land)
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self:UnHandleEvent(EVENTS.Crash)
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self:UnHandleEvent(EVENTS.Ejection)
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end
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------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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