Ops

Moose Development/Moose/Ops/ArmyGroup.lua

@@ -21,7 +21,7 @@
 --
 -- ===
 --
--- ![Banner Image](..\Presentations\ARMYGROUP\NavyGroup_Main.jpg)
+-- ![Banner Image](..\Presentations\ARMYGROUP\ArmyGroup_Main.jpg)
 --
 -- # The ARMYGROUP Concept
 -- 
@@ -33,12 +33,12 @@ ARMYGROUP = {
   formationPerma  = nil,
 }
 
---- Navy group element.
+--- Army group element.
 -- @type ARMYGROUP.Element
 -- @field #string name Name of the element, i.e. the unit.
 -- @field #string typename Type name.
 
---- NavyGroup version.
+--- Army Group version.
 -- @field #string version
 ARMYGROUP.version="0.0.1"
 
@@ -151,8 +151,7 @@ end
 
 --- Get coordinate of the closest road.
 -- @param #ARMYGROUP self
--- @param #boolean switch If true or nil, patrol until the end of time. If false, go along the waypoints once and stop.
+-- @return Core.Point#COORDINATE Coordinate of a road closest to the group.
--- @return #ARMYGROUP self
 function ARMYGROUP:GetClosestRoad()
   return self:GetCoordinate():GetClosestPointToRoad()
 end
@@ -174,6 +173,24 @@ function ARMYGROUP:AddTaskFireAtPoint(Coordinate, Radius, Nshots, WeaponType, Cl
 
 end
 
+--- Add a *waypoint* task.
+-- @param #ARMYGROUP self
+-- @param Core.Point#COORDINATE Coordinate Coordinate of the target.
+-- @param Ops.OpsGroup#OPSGROUP.Waypoint Waypoint Where the task is executed. Default is next waypoint.
+-- @param #number Radius Radius in meters. Default 100 m.
+-- @param #number Nshots Number of shots to fire. Default 3.
+-- @param #number WeaponType Type of weapon. Default auto.
+-- @param #number Prio Priority of the task.
+function ARMYGROUP:AddTaskWaypointFireAtPoint(Coordinate, Waypoint, Radius, Nshots, WeaponType, Prio)
+
+  Waypoint=Waypoint or self:GetWaypointNext()
+
+  local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
+
+  self:AddTaskWaypoint(DCStask, Waypoint, nil, Prio)
+
+end
+
 --- Add a *scheduled* task.
 -- @param #ARMYGROUP self
 -- @param Wrapper.Group#GROUP TargetGroup Target group.
@@ -189,6 +206,8 @@ function ARMYGROUP:AddTaskAttackGroup(TargetGroup, WeaponExpend, WeaponType, Clo
 
 end
 
+
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Status
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -251,60 +270,11 @@ function ARMYGROUP:onafterStatus(From, Event, To)
 
 
   ---
-  -- Tasks
+  -- Tasks & Missions
   ---
 
-  -- Task queue.
+  self:_PrintTaskAndMissionStatus()
-  if #self.taskqueue>0 and self.verbose>1 then  
-    local text=string.format("Tasks #%d", #self.taskqueue)
-    for i,_task in pairs(self.taskqueue) do
-      local task=_task --Ops.OpsGroup#OPSGROUP.Task
-      local name=task.description
-      local taskid=task.dcstask.id or "unknown"
-      local status=task.status
-      local clock=UTILS.SecondsToClock(task.time, true)
-      local eta=task.time-timer.getAbsTime()
-      local started=task.timestamp and UTILS.SecondsToClock(task.timestamp, true) or "N/A"
-      local duration=-1
-      if task.duration then
-        duration=task.duration
-        if task.timestamp then
-          -- Time the task is running.
-          duration=task.duration-(timer.getAbsTime()-task.timestamp)
-        else
-          -- Time the task is supposed to run.
-          duration=task.duration
-        end
-      end
-      -- Output text for element.
-      if task.type==OPSGROUP.TaskType.SCHEDULED then
-        text=text..string.format("\n[%d] %s (%s): status=%s, scheduled=%s (%d sec), started=%s, duration=%d", i, taskid, name, status, clock, eta, started, duration)
-      elseif task.type==OPSGROUP.TaskType.WAYPOINT then
-        text=text..string.format("\n[%d] %s (%s): status=%s, waypoint=%d, started=%s, duration=%d, stopflag=%d", i, taskid, name, status, task.waypoint, started, duration, task.stopflag:Get())
-      end
-    end
-    self:I(self.lid..text)
-  end
 
-  ---
-  -- Missions
-  ---
-  
-  -- Current mission name.
-  if self.verbose>0 then  
-    local Mission=self:GetMissionByID(self.currentmission)
-    
-    -- Current status.
-    local text=string.format("Missions %d, Current: %s", self:CountRemainingMissison(), Mission and Mission.name or "none")
-    for i,_mission in pairs(self.missionqueue) do
-      local mission=_mission --Ops.Auftrag#AUFTRAG
-      local Cstart= UTILS.SecondsToClock(mission.Tstart, true)
-      local Cstop = mission.Tstop and UTILS.SecondsToClock(mission.Tstop, true) or "INF"
-      text=text..string.format("\n[%d] %s (%s) status=%s (%s), Time=%s-%s, prio=%d wp=%s targets=%d", 
-      i, tostring(mission.name), mission.type, mission:GetGroupStatus(self), tostring(mission.status), Cstart, Cstop, mission.prio, tostring(mission:GetGroupWaypointIndex(self)), mission:CountMissionTargets())
-    end
-    self:I(self.lid..text)
-  end
 
   self:__Status(-30)
 end
@@ -350,11 +320,29 @@ function ARMYGROUP:onafterSpawned(From, Event, To)
 
   if self.ai then
   
-    -- Set default ROE option.
+    -- Set default ROE.
+    if self.option.ROE then
       self:SwitchROE(self.option.ROE)
+    else
+      self:SwitchROE(ENUMS.ROE.ReturnFire)
+    end
     
-    -- Set default Alarm State option.
+    -- Set default Alarm State.
+    if self.option.Alarm then
       self:SwitchAlarmstate(self.option.Alarm)
+    else
+      self:SwitchAlarmstate(0)
+    end
+    
+    -- Turn TACAN beacon on.
+    if self.tacan.On then
+      self:_SwitchTACAN(self.tacan)
+    end
+
+    -- Turn on the radio.
+    if self.radio.On then
+      self:SwitchRadio(self.radio.Freq, self.radio.Modu)
+    end
     
   end
   
@@ -385,8 +373,11 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
   -- Waypoints.
   local waypoints={}
   
+  -- Total number of waypoints
+  local N=#self.waypoints
+
   -- Add remaining waypoints to route.
-  for i=n, #self.waypoints do
+  for i=n, N do
   
     -- Copy waypoint.
     local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
@@ -404,7 +395,9 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
       end
       
       if self.formationPerma then
+        --if self.formationPerma==ENUMS.Formation.Vehicle.OnRoad then
           wp.action=self.formationPerma
+        --end
       elseif Formation then 
         wp.action=Formation
       end
@@ -429,16 +422,26 @@ function ARMYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Formation)
       
     end
     
+    if wp.roaddist>100 and wp.action==ENUMS.Formation.Vehicle.OnRoad then
+      env.info("FF Adding ON road waypoint")
+      --wp.roadcoord:MarkToAll("Added Road waypoint")
     
-    if formation==ENUMS.Formation.Vehicle.OnRoad then
+      -- Waypoint is actually off road!
-    
+      wp.action=ENUMS.Formation.Vehicle.OffRoad
-      local wpnext=self:GetWaypointNext()
-      
-      if wpnext.action~=ENUMS.Formation.Vehicle.OnRoad then
 
+      -- Add "On Road" waypoint in between.
+      local wproad=wp.roadcoord:WaypointGround(wp.speed, ENUMS.Formation.Vehicle.OnRoad)
+      table.insert(waypoints, wproad)     
     end    
      
+    --if wp.formation==ENUMS.Formation.Vehicle.OnRoad and wp.action~=ENUMS.Formation.Vehicle.OnRoad then --and not self.formationPerma~=ENUMS.Formation.Vehicle.OnRoad then
+    --[[
+    if wp.action==ENUMS.Formation.Vehicle.OnRoad and wp.roaddist>100 then
+      env.info("FF Adding ON road waypoint")
+      local wproad=wp.roadcoord:WaypointGround(wp.speed, ENUMS.Formation.Vehicle.OnRoad)
+      table.insert(waypoints, wproad)     
     end
+    ]]
     
     -- Debug info.
     self:I(string.format("WP %d %s: Speed=%d m/s, alt=%d m, Action=%s", i, wp.type, wp.speed, wp.alt, wp.action))
@@ -716,10 +719,24 @@ function ARMYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Formation
   
   -- Get closest point to road.
   waypoint.roadcoord=Coordinate:GetClosestPointToRoad(false)
-  waypoint.roadist=Coordinate:Get2DDistance(waypoint.roadcoord)
+  if waypoint.roadcoord then
+    waypoint.roaddist=Coordinate:Get2DDistance(waypoint.roadcoord)
+  else
+    waypoint.roaddist=1000*1000 --1000 km.
+  end
+
+  --[[  
+  if waypoint.roaddist>100 and waypoint.action==ENUMS.Formation.Vehicle.OnRoad then
+    waypoint.formation=ENUMS.Formation.Vehicle.OnRoad
+    waypoint.action=ENUMS.Formation.Vehicle.OffRoad
+  else
+    waypoint.formation=waypoint.action
+  end
+  ]]
+  
   
   -- Debug info.
-  self:T(self.lid..string.format("Adding GROUND waypoint #%d, speed=%.1f knots. Last waypoint passed was #%s. Total waypoints #%d", wpnumber, Speed, self.currentwp, #self.waypoints))
+  self:I(self.lid..string.format("Adding waypoint UID=%d (index=%d), Speed=%.1f knots, Dist2Road=%d m, Action=%s", waypoint.uid, wpnumber, Speed, waypoint.roaddist, waypoint.action))
   
   -- Update route.
   if Updateroute==nil or Updateroute==true then
@@ -771,7 +788,7 @@ function ARMYGROUP:_InitGroup()
   self.position=self:GetCoordinate()
   
   -- Radio parameters from template.
-  self.radioOn=false  -- Radio is always OFF for ground.
+  self.radio.On=false  -- Radio is always OFF for ground.
   self.radio.Freq=133
   self.radio.Modu=radio.modulation.AM  
   
@@ -810,13 +827,13 @@ function ARMYGROUP:_InitGroup()
     self.actype=unit:GetTypeName()
     
     -- Debug info.
-    local text=string.format("Initialized Navy Group %s:\n", self.groupname)
+    local text=string.format("Initialized Army Group %s:\n", self.groupname)
     text=text..string.format("AC type      = %s\n", self.actype)
     text=text..string.format("Speed max    = %.1f Knots\n", UTILS.KmphToKnots(self.speedmax))
     text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
     text=text..string.format("Elements     = %d\n", #self.elements)
     text=text..string.format("Waypoints    = %d\n", #self.waypoints)
-    text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radioOn))
+    text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
     text=text..string.format("Ammo         = %d (G=%d/R=%d/M=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Missiles)
     text=text..string.format("FSM state    = %s\n", self:GetState())
     text=text..string.format("Is alive     = %s\n", tostring(self:IsAlive()))

Moose Development/Moose/Ops/FlightGroup.lua

@@ -824,60 +824,10 @@ function FLIGHTGROUP:onafterStatus(From, Event, To)
   end
 
   ---
-  -- Tasks
+  -- Tasks & Missions
   ---
 
-  -- Task queue.
+  self:_PrintTaskAndMissionStatus()
-  if self.verbose>1 and #self.taskqueue>0 then
-    local text=string.format("Tasks #%d", #self.taskqueue)
-    for i,_task in pairs(self.taskqueue) do
-      local task=_task --Ops.OpsGroup#OPSGROUP.Task
-      local name=task.description
-      local taskid=task.dcstask.id or "unknown"
-      local status=task.status
-      local clock=UTILS.SecondsToClock(task.time, true)
-      local eta=task.time-timer.getAbsTime()
-      local started=task.timestamp and UTILS.SecondsToClock(task.timestamp, true) or "N/A"
-      local duration=-1
-      if task.duration then
-        duration=task.duration
-        if task.timestamp then
-          -- Time the task is running.
-          duration=task.duration-(timer.getAbsTime()-task.timestamp)
-        else
-          -- Time the task is supposed to run.
-          duration=task.duration
-        end
-      end
-      -- Output text for element.
-      if task.type==OPSGROUP.TaskType.SCHEDULED then
-        text=text..string.format("\n[%d] %s (%s): status=%s, scheduled=%s (%d sec), started=%s, duration=%d", i, taskid, name, status, clock, eta, started, duration)
-      elseif task.type==OPSGROUP.TaskType.WAYPOINT then
-        text=text..string.format("\n[%d] %s (%s): status=%s, waypoint=%d, started=%s, duration=%d, stopflag=%d", i, taskid, name, status, task.waypoint, started, duration, task.stopflag:Get())
-      end
-    end
-    self:I(self.lid..text)
-  end
-
-  ---
-  -- Missions
-  ---
-
-  -- Current mission name.
-  if self.verbose>0 then
-    local Mission=self:GetMissionByID(self.currentmission)
-
-    -- Current status.
-    local text=string.format("Missions %d, Current: %s", self:CountRemainingMissison(), Mission and Mission.name or "none")
-    for i,_mission in pairs(self.missionqueue) do
-      local mission=_mission --Ops.Auftrag#AUFTRAG
-      local Cstart= UTILS.SecondsToClock(mission.Tstart, true)
-      local Cstop = mission.Tstop and UTILS.SecondsToClock(mission.Tstop, true) or "INF"
-      text=text..string.format("\n[%d] %s (%s) status=%s (%s), Time=%s-%s, prio=%d wp=%s targets=%d",
-      i, tostring(mission.name), mission.type, mission:GetGroupStatus(self), tostring(mission.status), Cstart, Cstop, mission.prio, tostring(mission:GetGroupWaypointIndex(self)), mission:CountMissionTargets())
-    end
-    self:I(self.lid..text)
-  end
 
   ---
   -- Fuel State
@@ -1415,27 +1365,28 @@ function FLIGHTGROUP:onafterSpawned(From, Event, To)
 
   if self.ai then
 
-    -- Set default ROE and ROT options.
+    -- Set default ROE.
+    if self.option.ROE then
       self:SwitchROE(self.option.ROE)
+    else
+      self:SwitchROE(ENUMS.ROE.ReturnFire)
+    end
+
+    -- Set default ROT.
+    if self.option.ROT then
       self:SwitchROT(self.option.ROT)
+    else
+      self:SwitchROE(ENUMS.ROT.PassiveDefense)
+    end
         
     -- Turn TACAN beacon on.
-    if self.tacanDefault then
+    if self.tacan.On then
-      self:SwitchTACAN(self.tacanDefault.Channel, self.tacanDefault.Morse, self.tacanDefault.BeaconName, self.tacanDefault.Band)
+      self:_SwitchTACAN(self.tacan)
     end
     
     -- Turn on the radio.
-    if self.radioDefault then
+    if self.radio.On then
-      self:SwitchRadio(self.radioDefault.Freq, self.radioDefault.Modu)
+      self:SwitchRadio(self.radio.Freq, self.radio.Modu)
-    else
-      self:SetDefaultRadio(self.radio.Freq, self.radio.Modu)
-    end
-    
-    -- Set callsign.
-    if self.callsignDefault then
-      self:SwitchCallsign(self.callsignDefault.NumberSquad, self.callsignDefault.NumberGroup)
-    else
-      self:SetDefaultCallsign(self.callsign.NumberSquad, self.callsign.NumberGroup)
     end
     
     -- TODO: make this input.
@@ -1444,7 +1395,6 @@ function FLIGHTGROUP:onafterSpawned(From, Event, To)
     self.group:SetOption(AI.Option.Air.id.RTB_ON_BINGO, false)
     --self.group:SetOption(AI.Option.Air.id.RADAR_USING, AI.Option.Air.val.RADAR_USING.FOR_CONTINUOUS_SEARCH)    
 
-
     -- Update route.
     self:__UpdateRoute(-0.5)
 
@@ -2554,7 +2504,7 @@ function FLIGHTGROUP:_InitGroup()
   self.position=self:GetCoordinate()
 
   -- Radio parameters from template.
-  self.radioOn=self.template.communication  
+  self.radio.On=self.template.communication
   self.radio.Freq=self.template.frequency
   self.radio.Modu=self.template.modulation
   
@@ -2614,7 +2564,7 @@ function FLIGHTGROUP:_InitGroup()
     text=text..string.format("Helicopter   = %s\n", tostring(self.group:IsHelicopter()))
     text=text..string.format("Elements     = %d\n", #self.elements)
     text=text..string.format("Waypoints    = %d\n", #self.waypoints)
-    text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radioOn))
+    text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
     text=text..string.format("Ammo         = %d (G=%d/R=%d/B=%d/M=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Bombs, self.ammo.Missiles)
     text=text..string.format("FSM state    = %s\n", self:GetState())
     text=text..string.format("Is alive     = %s\n", tostring(self.group:IsAlive()))

Moose Development/Moose/Ops/NavyGroup.lua

@@ -95,8 +95,8 @@ function NAVYGROUP:New(GroupName)
   self.lid=string.format("NAVYGROUP %s | ", self.groupname)
   
   -- Defaults
-  self:SetDefaultROE()
+  --self:SetDefaultROE()
-  self:SetDefaultAlarmstate()
+  --self:SetDefaultAlarmstate()
   self:SetDetection()
   self:SetPatrolAdInfinitum(true)
 
@@ -205,6 +205,27 @@ function NAVYGROUP:AddTaskFireAtPoint(Coordinate, Radius, Nshots, WeaponType, Cl
   return task
 end
 
+--- Add a *waypoint* task.
+-- @param #NAVYGROUP self
+-- @param Core.Point#COORDINATE Coordinate Coordinate of the target.
+-- @param Ops.OpsGroup#OPSGROUP.Waypoint Waypoint Where the task is executed. Default is next waypoint.
+-- @param #number Radius Radius in meters. Default 100 m.
+-- @param #number Nshots Number of shots to fire. Default 3.
+-- @param #number WeaponType Type of weapon. Default auto.
+-- @param #number Prio Priority of the task.
+-- @return Ops.OpsGroup#OPSGROUP.Task The task table.
+function NAVYGROUP:AddTaskWaypointFireAtPoint(Coordinate, Waypoint, Radius, Nshots, WeaponType, Prio)
+
+  Waypoint=Waypoint or self:GetWaypointNext()
+
+  local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
+
+  local task=self:AddTaskWaypoint(DCStask, Waypoint, nil, Prio)
+
+  return task
+end
+
+
 --- Add a *scheduled* task.
 -- @param #NAVYGROUP self
 -- @param Wrapper.Group#GROUP TargetGroup Target group.
@@ -408,14 +429,16 @@ function NAVYGROUP:onafterStatus(From, Event, To)
       -- Check free path ahead.
       freepath=self:_CheckFreePath(freepath, 100)
       
-      if freepath<5000 then
+      if freepath<5000 and not self.collisionwarning then
+      
+        -- Issue a collision warning event.
         self:CollisionWarning()
       end
     
       if not self.ispathfinding then
                  
         if freepath<5000 then
-          --self.ispathfinding=self:_FindPathToNextWaypoint()
+          self.ispathfinding=self:_FindPathToNextWaypoint()
         end
         
       end
@@ -464,60 +487,10 @@ function NAVYGROUP:onafterStatus(From, Event, To)
 
 
   ---
-  -- Tasks
+  -- Tasks & Missions
   ---
 
-  -- Task queue.
+  self:_PrintTaskAndMissionStatus()
-  if self.verbose>-1 and #self.taskqueue>0 then  
-    local text=string.format("Tasks #%d", #self.taskqueue)
-    for i,_task in pairs(self.taskqueue) do
-      local task=_task --Ops.OpsGroup#OPSGROUP.Task
-      local name=task.description
-      local taskid=task.dcstask.id or "unknown"
-      local status=task.status
-      local clock=UTILS.SecondsToClock(task.time, true)
-      local eta=task.time-timer.getAbsTime()
-      local started=task.timestamp and UTILS.SecondsToClock(task.timestamp, true) or "N/A"
-      local duration=-1
-      if task.duration then
-        duration=task.duration
-        if task.timestamp then
-          -- Time the task is running.
-          duration=task.duration-(timer.getAbsTime()-task.timestamp)
-        else
-          -- Time the task is supposed to run.
-          duration=task.duration
-        end
-      end
-      -- Output text for element.
-      if task.type==OPSGROUP.TaskType.SCHEDULED then
-        text=text..string.format("\n[%d] %s (%s): status=%s, scheduled=%s (%d sec), started=%s, duration=%d", i, taskid, name, status, clock, eta, started, duration)
-      elseif task.type==OPSGROUP.TaskType.WAYPOINT then
-        text=text..string.format("\n[%d] %s (%s): status=%s, waypoint=%d, started=%s, duration=%d, stopflag=%d", i, taskid, name, status, task.waypoint, started, duration, task.stopflag:Get())
-      end
-    end
-    self:I(self.lid..text)
-  end
-  
-  ---
-  -- Missions
-  ---
-  
-  -- Current mission name.
-  if self.verbose>0 then  
-    local Mission=self:GetMissionByID(self.currentmission)
-    
-    -- Current status.
-    local text=string.format("Missions %d, Current: %s", self:CountRemainingMissison(), Mission and Mission.name or "none")
-    for i,_mission in pairs(self.missionqueue) do
-      local mission=_mission --Ops.Auftrag#AUFTRAG
-      local Cstart= UTILS.SecondsToClock(mission.Tstart, true)
-      local Cstop = mission.Tstop and UTILS.SecondsToClock(mission.Tstop, true) or "INF"
-      text=text..string.format("\n[%d] %s (%s) status=%s (%s), Time=%s-%s, prio=%d wp=%s targets=%d", 
-      i, tostring(mission.name), mission.type, mission:GetGroupStatus(self), tostring(mission.status), Cstart, Cstop, mission.prio, tostring(mission:GetGroupWaypointIndex(self)), mission:CountMissionTargets())
-    end
-    self:I(self.lid..text)
-  end
 
 
   -- Next status update in 30 seconds.
@@ -566,26 +539,34 @@ function NAVYGROUP:onafterSpawned(From, Event, To)
   if self.ai then
  
     -- Set default ROE.
+    if self.option.ROE then
       self:SwitchROE(self.option.ROE)
+    else
+      self:SwitchROE(ENUMS.ROE.ReturnFire)
+    end
     
     -- Set default Alarm State.
+    if self.option.Alarm then
       self:SwitchAlarmstate(self.option.Alarm)
+    else
+      self:SwitchAlarmstate(0)
+    end
     
     -- Turn TACAN beacon on.
-    if self.tacanDefault then
+    if self.tacan.On then
-      self:SwitchTACAN(self.tacanDefault.Channel, self.tacanDefault.Morse, self.tacanDefault.BeaconName, self.tacanDefault.Band)
+      self:_SwitchTACAN(self.tacan)
     end
     
     -- Turn ICLS on.
-    if self.iclsDefault then
+    if self.icls.On then
-      self:SwitchICLS(self.iclsDefault.Channel, self.iclsDefault.Morse, self.iclsDefault.BeaconName)
+      self:_SwitchICLS(self.icls)
     end    
 
     -- Turn on the radio.
-    if self.radioDefault then
+    if self.radio.On then
-      self:SwitchRadio(self.radioDefault.Freq, self.radioDefault.Modu)
+      self:SwitchRadio(self.radio.Freq, self.radio.Modu)
     else
-      self:SetDefaultRadio(self.radio.Freq, self.radio.Modu)
+      self.radio.On=true -- Radio is always on for ships. If not set, it is default.
     end
     
   end
@@ -776,7 +757,7 @@ function NAVYGROUP:onafterTurnIntoWind(From, Event, To, IntoWind)
   
   IntoWind.waypoint=wptiw
   
-  if IntoWind.Uturn then
+  if IntoWind.Uturn and self.Debug then
     IntoWind.Coordinate:MarkToAll("Return coord")
   end
   
@@ -880,6 +861,34 @@ function NAVYGROUP:onafterSurface(From, Event, To, Speed)
 
 end
 
+--- On after "TurningStarted" event.
+-- @param #NAVYGROUP self
+-- @param #string From From state.
+-- @param #string Event Event.
+-- @param #string To To state.
+function NAVYGROUP:onafterTurningStarted(From, Event, To)
+  self.turning=true
+end
+
+--- On after "TurningStarted" event.
+-- @param #NAVYGROUP self
+-- @param #string From From state.
+-- @param #string Event Event.
+-- @param #string To To state.
+function NAVYGROUP:onafterTurningStopped(From, Event, To)
+  self.turning=false
+  self.collisionwarning=false
+end
+
+--- On after "CollisionWarning" event.
+-- @param #NAVYGROUP self
+-- @param #string From From state.
+-- @param #string Event Event.
+-- @param #string To To state.
+function NAVYGROUP:onafterCollisionWarning(From, Event, To)
+  self.collisionwarning=true
+end
+
 --- On after "Dead" event.
 -- @param #NAVYGROUP self
 -- @param #string From From state.
@@ -1030,6 +1039,16 @@ end
 -- @return Ops.OpsGroup#OPSGROUP.Waypoint Waypoint table.
 function NAVYGROUP:AddWaypoint(Coordinate, Speed, AfterWaypointWithID, Depth, Updateroute)
 
+  if not Coordinate:IsInstanceOf("COORDINATE") then
+    if Coordinate:IsInstanceOf("POSITIONABLE") then
+      self:I(self.lid.."WARNING: Coordinate is not a COORDINATE but a POSITIONABLE. Trying to get coordinate")
+      Coordinate=Coordinate:GetCoordinate()
+    else
+      self:E(self.lid.."ERROR: Coordinate is neither a COORDINATE nor any POSITIONABLE!")
+      return nil
+    end
+  end
+  
   -- Set waypoint index.
   local wpnumber=self:GetWaypointIndexAfterID(AfterWaypointWithID)
 
@@ -1107,7 +1126,7 @@ function NAVYGROUP:_InitGroup()
   self.position=self:GetCoordinate()
   
   -- Radio parameters from template.
-  self.radioOn=true  -- Radio is always on for ships.
+  self.radio.On=false  -- Radio is always on for ships but we set it to false to check if it has been changed before spawn.
   self.radio.Freq=tonumber(self.template.units[1].frequency)/1000000
   self.radio.Modu=tonumber(self.template.units[1].modulation)
   
@@ -1152,7 +1171,7 @@ function NAVYGROUP:_InitGroup()
     text=text..string.format("Speed cruise = %.1f Knots\n", UTILS.KmphToKnots(self.speedCruise))
     text=text..string.format("Elements     = %d\n", #self.elements)
     text=text..string.format("Waypoints    = %d\n", #self.waypoints)
-    text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radioOn))
+    text=text..string.format("Radio        = %.1f MHz %s %s\n", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu), tostring(self.radio.On))
     text=text..string.format("Ammo         = %d (G=%d/R=%d/M=%d/T=%d)\n", self.ammo.Total, self.ammo.Guns, self.ammo.Rockets, self.ammo.Missiles, self.ammo.Torpedos)
     text=text..string.format("FSM state    = %s\n", self:GetState())
     text=text..string.format("Is alive     = %s\n", tostring(self.group:IsAlive()))
@@ -1190,7 +1209,13 @@ function NAVYGROUP:_CheckFreePath(DistanceMax, dx)
     return distance
   end
   
-  local offsetY=1
+  -- Offset above sea level.
+  local offsetY=0.1
+  
+  -- Current bug on Caucasus. LoS returns false.
+  if UTILS.GetDCSMap()==DCSMAP.Caucasus then
+    offsetY=5.01
+  end
   
   -- Current coordinate.
   local coordinate=self:GetCoordinate():SetAltitude(offsetY, true)
@@ -1199,7 +1224,7 @@ function NAVYGROUP:_CheckFreePath(DistanceMax, dx)
   local heading=self:GetHeading()
   
   -- Check from 500 meters in front.
-  coordinate=coordinate:Translate(500, heading, true)
+  --coordinate=coordinate:Translate(500, heading, true)
   
   local function LoS(dist)
     local checkcoord=coordinate:Translate(dist, heading, true)
@@ -1534,7 +1559,7 @@ function NAVYGROUP:_FindPathToNextWaypoint()
   local delta=dist/10
   
   -- Create a grid of nodes. We only want nodes of surface type water.
-  astar:CreateGrid({land.SurfaceType.WATER}, boxwidth, spacex, delta, delta*2, false)
+  astar:CreateGrid({land.SurfaceType.WATER}, boxwidth, spacex, delta, delta*2, self.Debug)
   
   -- Valid neighbour nodes need to have line of sight.
   astar:SetValidNeighbourLoS(400)

Moose Development/Moose/Ops/OpsGroup.lua

@@ -58,16 +58,13 @@
 -- 
 -- @field #OPSGROUP.Radio radio Current radio settings.
 -- @field #OPSGROUP.Radio radioDefault Default radio settings.
--- @field #boolean radioOn If true, radio is currently turned on.
 -- @field Core.RadioQueue#RADIOQUEUE radioQueue Radio queue.
 -- 
 -- @field #OPSGROUP.Beacon tacan Current TACAN settings.
 -- @field #OPSGROUP.Beacon tacanDefault Default TACAN settings.
--- @field #boolean tacanOn If true, TACAN is currently active.
 -- 
 -- @field #OPSGROUP.Beacon icls Current ICLS settings.
 -- @field #OPSGROUP.Beacon iclsDefault Default ICLS settings.
--- @field #boolean iclsOn If true, ICLS is currently active.
 -- 
 -- @field #OPSGROUP.Option option Current optional settings.
 -- @field #OPSGROUP.Option optionDefault Default option settings.
@@ -202,11 +199,13 @@ OPSGROUP.TaskType={
 -- @field #string Band Band "X" or "Y" for TACAN beacon.
 -- @field #string BeaconName Name of the unit acting as beacon.
 -- @field Wrapper.Unit#UNIT BeaconUnit Unit object acting as beacon.
+-- @field #boolean On If true, beacon is on, if false, beacon is turned off. If nil, has not been used yet.
 
 --- Radio data.
 -- @type OPSGROUP.Radio
 -- @field #number Freq Frequency
 -- @field #number Modu Modulation.
+-- @field #boolean On If true, radio is on, if false, radio is turned off. If nil, has not been used yet.
 
 --- Callsign data.
 -- @type OPSGROUP.Callsign
@@ -255,7 +254,9 @@ OPSGROUP.TaskType={
 -- @field #boolean astar If true, this waypint was found by A* pathfinding algorithm.
 -- @field Core.Point#COORDINATE coordinate Waypoint coordinate.
 -- @field Core.Point#COORDINATE roadcoord Closest point to road.
+-- @field #number roaddist Distance to closest point on road.
 -- @field Wrapper.Marker#MARKER marker Marker on the F10 map.
+-- @field #string formation Ground formation. Similar to action but on/off road.
 
 --- NavyGroup version.
 -- @field #string version
@@ -864,6 +865,14 @@ end
 
 --- Get unique ID of waypoint.
 -- @param #OPSGROUP self
+-- @param #OPSGROUP.Waypoint waypoint The waypoint data table.
+-- @return #number Unique ID.
+function OPSGROUP:GetWaypointUID(waypoint)
+  return waypoint.uid
+end
+
+--- Get unique ID of waypoint given its index.
+-- @param #OPSGROUP self
 -- @param #number indx Waypoint index.
 -- @return #number Unique ID.
 function OPSGROUP:GetWaypointID(indx)
@@ -1213,7 +1222,7 @@ function OPSGROUP:AddTaskWaypoint(task, Waypoint, description, prio, duration)
 
     -- Task data structure.
     local newtask={} --#OPSGROUP.Task
-    newtask.description=description
+    newtask.description=description or string.format("Task #%d", self.taskcounter)
     newtask.status=OPSGROUP.TaskStatus.SCHEDULED
     newtask.dcstask=task
     newtask.prio=prio or 50
@@ -2592,6 +2601,72 @@ function OPSGROUP:_CheckGroupDone(delay)
   
 end
 
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+-- Status Info Common to Air, Land and Sea
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+--- Print info on mission and task status to DCS log file.
+-- @param #OPSGROUP self
+function OPSGROUP:_PrintTaskAndMissionStatus()
+
+ ---
+  -- Tasks: verbose >= 2
+  ---
+  
+  -- Task queue.
+  if #self.taskqueue>0 and self.verbose>=2 then  
+    local text=string.format("Tasks #%d", #self.taskqueue)
+    for i,_task in pairs(self.taskqueue) do
+      local task=_task --Ops.OpsGroup#OPSGROUP.Task
+      local name=task.description
+      local taskid=task.dcstask.id or "unknown"
+      local status=task.status
+      local clock=UTILS.SecondsToClock(task.time, true)
+      local eta=task.time-timer.getAbsTime()
+      local started=task.timestamp and UTILS.SecondsToClock(task.timestamp, true) or "N/A"
+      local duration=-1
+      if task.duration then
+        duration=task.duration
+        if task.timestamp then
+          -- Time the task is running.
+          duration=task.duration-(timer.getAbsTime()-task.timestamp)
+        else
+          -- Time the task is supposed to run.
+          duration=task.duration
+        end
+      end
+      -- Output text for element.
+      if task.type==OPSGROUP.TaskType.SCHEDULED then
+        text=text..string.format("\n[%d] %s (%s): status=%s, scheduled=%s (%d sec), started=%s, duration=%d", i, taskid, name, status, clock, eta, started, duration)
+      elseif task.type==OPSGROUP.TaskType.WAYPOINT then
+        text=text..string.format("\n[%d] %s (%s): status=%s, waypoint=%d, started=%s, duration=%d, stopflag=%d", i, taskid, name, status, task.waypoint, started, duration, task.stopflag:Get())
+      end
+    end
+    self:I(self.lid..text)
+  end
+  
+  ---
+  -- Missions: verbose>=1
+  ---
+  
+  -- Current mission name.
+  if self.verbose>0 then  
+    local Mission=self:GetMissionByID(self.currentmission)
+    
+    -- Current status.
+    local text=string.format("Missions %d, Current: %s", self:CountRemainingMissison(), Mission and Mission.name or "none")
+    for i,_mission in pairs(self.missionqueue) do
+      local mission=_mission --Ops.Auftrag#AUFTRAG
+      local Cstart= UTILS.SecondsToClock(mission.Tstart, true)
+      local Cstop = mission.Tstop and UTILS.SecondsToClock(mission.Tstop, true) or "INF"
+      text=text..string.format("\n[%d] %s (%s) status=%s (%s), Time=%s-%s, prio=%d wp=%s targets=%d", 
+      i, tostring(mission.name), mission.type, mission:GetGroupStatus(self), tostring(mission.status), Cstart, Cstop, mission.prio, tostring(mission:GetGroupWaypointIndex(self)), mission:CountMissionTargets())
+    end
+    self:I(self.lid..text)
+  end
+
+end
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Waypoints & Routing
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -2653,9 +2728,13 @@ function OPSGROUP:InitWaypoints()
   
   for index,wp in pairs(self.waypoints0) do
   
-    local waypoint=self:_CreateWaypoint(wp)
+    --local waypoint=self:_CreateWaypoint(wp)    
+    --self:_AddWaypoint(waypoint)
     
-    self:_AddWaypoint(waypoint)
+    local coordinate=COORDINATE:New(wp.x, wp.alt, wp.y)
+    local speedknots=UTILS.MpsToKnots(wp.speed)
+    
+    self:AddWaypoint(coordinate, speedknots, index-1, nil, false)
      
   end
   
@@ -2871,19 +2950,26 @@ end
 
 --- Set current ROE for the group.
 -- @param #OPSGROUP self
--- @param #string roe ROE of group. Default is the value defined by :SetDefaultROE().
+-- @param #string roe ROE of group. Default is `ENUMS.ROE.ReturnFire`.
 -- @return #OPSGROUP self
 function OPSGROUP:SwitchROE(roe)
   
-  self.option.ROE=roe or self.optionDefault.ROE
+  if self:IsAlive() or self:IsInUtero() then
 
-  if self:IsAlive() then
+    self.option.ROE=roe or ENUMS.ROE.ReturnFire
   
-    self.group:OptionROE(self.option.ROE)
+    if self:IsInUtero() then
+      self:I(self.lid..string.format("Setting current ROE=%d when GROUP is SPAWNED", self.option.ROE))
+    else
+    
+      self.group:OptionROE(roe)
     
       self:I(self.lid..string.format("Setting current ROE=%d (0=WeaponFree, 1=OpenFireWeaponFree, 2=OpenFire, 3=ReturnFire, 4=WeaponHold)", self.option.ROE))
+    end
+    
+    
   else
-    -- TODO WARNING
+    self:E(self.lid.."WARNING: Cannot switch ROE! Group is not alive")
   end
   
   return self
@@ -2907,19 +2993,26 @@ end
 
 --- Set ROT for the group.
 -- @param #OPSGROUP self
--- @param #string rot ROT of group. Default is the value defined by :SetDefaultROT().
+-- @param #string rot ROT of group. Default is `ENUMS.ROT.PassiveDefense`.
 -- @return #OPSGROUP self
 function OPSGROUP:SwitchROT(rot)
   
-  self.option.ROT=rot or self.optionDefault.ROT
+  if self:IsAlive() or self:IsInUtero() then
   
-  if self:IsAlive() then
+    self.option.ROT=rot or ENUMS.ROT.PassiveDefense
+  
+    if self:IsInUtero() then
+      self:I(self.lid..string.format("Setting current ROT=%d when GROUP is SPAWNED", self.option.ROT))      
+    else
     
       self.group:OptionROT(self.option.ROT)
       
-    self:T2(self.lid..string.format("Setting current ROT=%d (0=NoReaction, 1=Passive, 2=Evade, 3=ByPass, 4=AllowAbort)", self.option.ROT))
+      self:I(self.lid..string.format("Setting current ROT=%d (0=NoReaction, 1=Passive, 2=Evade, 3=ByPass, 4=AllowAbort)", self.option.ROT))
+    end
+    
+
   else
-    -- TODO WARNING
+    self:E(self.lid.."WARNING: Cannot switch ROT! Group is not alive")
   end
   
   return self
@@ -2943,14 +3036,23 @@ function OPSGROUP:SetDefaultAlarmstate(alarmstate)
 end
 
 --- Set current Alarm State of the group.
+-- 
+-- * 0 = "Auto"
+-- * 1 = "Green"
+-- * 2 = "Red"
+-- 
 -- @param #OPSGROUP self
--- @param #string alarmstate Alarm state of group. Default is the value defined by :SetDefaultAlarmstate().
+-- @param #number alarmstate Alarm state of group. Default is 0="Auto".
 -- @return #OPSGROUP self
 function OPSGROUP:SwitchAlarmstate(alarmstate)
   
-  self.option.Alarm=alarmstate or self.optionDefault.Alarm
+  if self:IsAlive() or self:IsInUtero() then
   
-  if self:IsAlive() then
+    self.option.Alarm=alarmstate or 0
+    
+    if self:IsInUtero() then
+      self:I(self.lid..string.format("Setting current Alarm State=%d when GROUP is SPAWNED", self.option.Alarm))
+    else
   
       if self.option.Alarm==0 then
         self.group:OptionAlarmStateAuto()
@@ -2959,13 +3061,16 @@ function OPSGROUP:SwitchAlarmstate(alarmstate)
       elseif self.option.Alarm==2 then
         self.group:OptionAlarmStateRed()
       else
-      self:E("ERROR: Unknown Alarm State! Setting to AUTO.")
+        self:E("ERROR: Unknown Alarm State! Setting to AUTO")
         self.group:OptionAlarmStateAuto()
+        self.option.Alarm=0
       end
       
       self:I(self.lid..string.format("Setting current Alarm State=%d (0=Auto, 1=Green, 2=Red)", self.option.Alarm))
+      
+    end
   else
-    -- TODO WARNING
+    self:E(self.lid.."WARNING: Cannot switch Alarm State! Group is not alive.")
   end
   
   return self
@@ -2996,6 +3101,15 @@ function OPSGROUP:SetDefaultTACAN(Channel, Morse, UnitName, Band)
   return self
 end
 
+
+--- Activate/switch TACAN beacon settings.
+-- @param #OPSGROUP self
+-- @param #OPSGROUP.Beacon Tacan Tacan data table.
+-- @return #OPSGROUP self
+function OPSGROUP:_SwitchTACAN(Tacan)
+  self:SwitchTACAN(Tacan.Channel, Tacan.Morse, Tacan.BeaconName, Tacan.Band)
+end
+
 --- Activate/switch TACAN beacon settings.
 -- @param #OPSGROUP self
 -- @param #number Channel TACAN Channel.
@@ -3005,7 +3119,7 @@ end
 -- @return #OPSGROUP self
 function OPSGROUP:SwitchTACAN(Channel, Morse, UnitName, Band)
 
-  if self:IsAlive() then
+  if self:IsAlive() or self:IsInUtero() then
 
     local unit=self.group:GetUnit(1)  --Wrapper.Unit#UNIT
     
@@ -3022,15 +3136,10 @@ function OPSGROUP:SwitchTACAN(Channel, Morse, UnitName, Band)
       unit=self.group:GetUnit(1)
     end
     
-    if not Channel then
+    Channel=Channel or 74
-      Channel=self.tacanDefault and self.tacanDefault.Channel or nil
+    Morse=Morse or "XXX"
-    end
     
-    if not Morse then
+    if unit and unit:IsAlive() or self:IsInUtero() then
-      Morse=self.tacanDefault and self.tacanDefault.Morse or "XXX"
-    end
-
-    if unit and unit:IsAlive() and Channel then
 
       local UnitID=unit:GetID()
 
@@ -3048,26 +3157,31 @@ function OPSGROUP:SwitchTACAN(Channel, Morse, UnitName, Band)
       -- Tacan frequency.
       local Frequency=UTILS.TACANToFrequency(Channel, Band)
 
-      -- Activate beacon.
-      unit:CommandActivateBeacon(Type, System, Frequency, UnitID, Channel, Band, true, Morse, true)
-
       -- Update info.
-      self.tacan={}
       self.tacan.Channel=Channel
       self.tacan.Morse=Morse
       self.tacan.Band=Band
       self.tacan.BeaconName=unit:GetName()
       self.tacan.BeaconUnit=unit
+      self.tacan.On=true
 
-      -- TACAN is now on.
+      if self:IsInUtero() then
-      self.tacanOn=true
+        self:I(self.lid..string.format("Switching TACAN to Channel %d%s Morse %s on unit %s when GROUP is SPAWNED", self.tacan.Channel, self.tacan.Band, tostring(self.tacan.Morse), self.tacan.BeaconName))
+      else
+      
+        -- Activate beacon.
+        unit:CommandActivateBeacon(Type, System, Frequency, UnitID, Channel, Band, true, Morse, true)
                 
         self:I(self.lid..string.format("Switching TACAN to Channel %d%s Morse %s on unit %s", self.tacan.Channel, self.tacan.Band, tostring(self.tacan.Morse), self.tacan.BeaconName))
-      
-    else
-      self:E(self.lid.."ERROR: Cound not set TACAN! Unit is not alive.")
       end
       
+      
+    else
+      self:E(self.lid.."ERROR: Cound not set TACAN! Unit is not alive")
+    end
+
+  else
+    self:E(self.lid.."ERROR: Cound not set TACAN! Group is not alive")
   end
 
   return self
@@ -3107,13 +3221,21 @@ end
 
 --- Activate/switch ICLS beacon settings.
 -- @param #OPSGROUP self
--- @param #number Channel ICLS Channel.
+-- @param #OPSGROUP.Beacon Icls ICLS data table.
--- @param #string Morse ICLS morse code. Default is the value set in @{#OPSGROUP.SetDefaultICLS} or if not set "XXX".
+-- @return #OPSGROUP self
+function OPSGROUP:_SwitchICLS(Icls)
+  self:SwitchICLS(Icls.Channel, Icls.Morse, Icls.BeaconName)
+end
+
+--- Activate/switch ICLS beacon settings.
+-- @param #OPSGROUP self
+-- @param #number Channel ICLS Channel. Default is 1.
+-- @param #string Morse ICLS morse code. Default is "XXX".
 -- @param #string UnitName Name of the unit in the group which should activate the ICLS beacon. Can also be given as #number to specify the unit number. Default is the first unit of the group.
 -- @return #OPSGROUP self
 function OPSGROUP:SwitchICLS(Channel, Morse, UnitName)
 
-  if self:IsAlive() then
+  if self:IsAlive() or self:IsInUtero() then
 
     local unit=self.group:GetUnit(1)  --Wrapper.Unit#UNIT
     
@@ -3130,34 +3252,33 @@ function OPSGROUP:SwitchICLS(Channel, Morse, UnitName)
       unit=self.group:GetUnit(1)
     end
     
-    if not Channel then
+    Channel=Channel or 1
-      Channel=self.iclsDefault and self.iclsDefault.Channel or nil
+    Morse=Morse or "XXX"
-    end
 
-    if not Morse then
+    if unit and unit:IsAlive() or self:IsInUtero() then
-      Morse=self.iclsDefault and self.iclsDefault.Morse or "XXX"
-    end
-
-    if unit and unit:IsAlive() and Channel then
 
       local UnitID=unit:GetID()
       
+      -- Update info.
+      self.icls.Channel=Channel
+      self.icls.Morse=Morse
+      self.icls.Band=nil
+      self.icls.BeaconName=unit:GetName()
+      self.icls.BeaconUnit=unit
+      self.icls.On=true
+      
+
+      if self:IsInUtero() then
+        self:I(self.lid..string.format("Switching ICLS to Channel %d Morse %s on unit %s when GROUP is SPAWNED", self.icls.Channel, tostring(self.icls.Morse), self.icls.BeaconName))
+      else
+
         -- Activate beacon.
         unit:CommandActivateICLS(Channel, UnitID, Morse)
   
-      -- Update info.
-      self.icls={}
-      self.icls.Channel=Channel
-      self.icls.Morse=Morse
-      self.icls.Band=Band
-      self.icls.BeaconName=unit:GetName()
-      self.icls.BeaconUnit=unit
-
-      -- ICLS is now on.
-      self.iclsOn=true
-
         self:I(self.lid..string.format("Switching ICLS to Channel %d Morse %s on unit %s", self.icls.Channel, tostring(self.icls.Morse), self.icls.BeaconName))
         
+      end
+      
     else
       self:E(self.lid.."ERROR: Cound not set ICLS! Unit is not alive.")
     end
@@ -3204,35 +3325,44 @@ function OPSGROUP:GetRadio()
   return self.radio.Freq, self.radio.Modu
 end
 
---- Turn radio on.
+--- Turn radio on or switch frequency/modulation.
 -- @param #OPSGROUP self
--- @param #number Frequency Radio frequency in MHz.
+-- @param #number Frequency Radio frequency in MHz. Default is 127.5 MHz.
 -- @param #number Modulation Radio modulation. Default `radio.Modulation.AM`.
 -- @return #OPSGROUP self
 function OPSGROUP:SwitchRadio(Frequency, Modulation)
 
-  if self:IsAlive() and Frequency then
+  if self:IsAlive() or self:IsInUtero() then
 
-    Modulation=Modulation or self.radioDefault.Modu
+    Frequency=Frequency or 127.5
+    Modulation=Modulation or radio.modulation.AM
 
     local group=self.group --Wrapper.Group#GROUP
 
-    if self.isAircraft and not self.radioOn then
+    if self.isAircraft and not self.radio.On then
       group:SetOption(AI.Option.Air.id.SILENCE, false)
     end
 
-    group:CommandSetFrequency(Frequency, Modulation)
+    -- Set radio
-    
     self.radio.Freq=Frequency
     self.radio.Modu=Modulation
+    self.radio.On=true
     
-    -- Radio is on.
+    if self:IsInUtero() then
-    self.radioOn=true
+      self:I(self.lid..string.format("Switching radio to frequency %.3f MHz %s when GROUP is SPAWNED", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu)))
+    else
+
+      -- Give command
+      group:CommandSetFrequency(Frequency, Modulation)
   
       self:I(self.lid..string.format("Switching radio to frequency %.3f MHz %s", self.radio.Freq, UTILS.GetModulationName(self.radio.Modu)))
       
     end
     
+  else
+    self:E(self.lid.."ERROR: Cound not set Radio! Group is not alive")
+  end
+
   return self
 end
 
@@ -3252,11 +3382,11 @@ function OPSGROUP:TurnOffRadio()
       --self.radio.Modu=nil
       
       -- Radio is off.
-      self.radioOn=false
+      self.radio.On=false
   
       self:I(self.lid..string.format("Switching radio OFF"))
     else
-      self:E(self.lid.."ERROR radio can only be turned off for aircraft!")
+      self:E(self.lid.."ERROR: Radio can only be turned off for aircraft!")
     end
 
   end

Moose Development/Moose/Ops/Squadron.lua

@@ -156,8 +156,10 @@ function SQUADRON:New(TemplateGroupName, Ngroups, SquadronName)
   --                 From State  -->   Event        -->     To State
   self:AddTransition("Stopped",       "Start",              "OnDuty")      -- Start FSM.
   self:AddTransition("*",             "Status",             "*")           -- Status update.
+  
   self:AddTransition("OnDuty",        "Pause",              "Paused")      -- Pause squadron.
   self:AddTransition("Paused",        "Unpause",            "OnDuty")      -- Unpause squadron.
+  
   self:AddTransition("*",             "Stop",               "Stopped")     -- Stop squadron.