From 4f2debeb4f69292f370a21b5c349d421bd10796b Mon Sep 17 00:00:00 2001
From: Pax1601 <d.passoni92@gmail.com>
Date: Tue, 13 Jun 2023 17:03:04 +0200
Subject: [PATCH] Added ability to take control of units

And bugfixes
---
 client/demo.js                        |  71 +++----
 client/src/@types/unit.d.ts           |  32 +--
 client/src/atc/atcboard.ts            |   2 +-
 client/src/atc/unitdatatable.ts       |   2 +-
 client/src/panels/unitcontrolpanel.ts | 213 ++++++++-----------
 client/src/panels/unitinfopanel.ts    |  90 ++++----
 client/src/units/aircraftdatabase.ts  |  24 ++-
 client/src/units/unit.ts              | 289 ++++++++++++++++---------
 scripts/OlympusCommand.lua            | 231 +++++++++++++++-----
 src/core/include/unit.h               |  95 ++++++---
 src/core/include/unitsmanager.h       |   9 +-
 src/core/src/aircraft.cpp             |  61 +++---
 src/core/src/airunit.cpp              | 152 +++++++-------
 src/core/src/core.cpp                 |   1 +
 src/core/src/groundunit.cpp           | 148 +++++++++----
 src/core/src/helicopter.cpp           |  48 ++---
 src/core/src/navyunit.cpp             |   5 +-
 src/core/src/scheduler.cpp            | 146 ++++++++++---
 src/core/src/unit.cpp                 | 291 ++++++++++++++++++++------
 src/core/src/unitsmanager.cpp         |  22 ++
 20 files changed, 1266 insertions(+), 666 deletions(-)

diff --git a/client/demo.js b/client/demo.js
index 292e2f52..5a76f8d1 100644
--- a/client/demo.js
+++ b/client/demo.js
@@ -49,17 +49,12 @@ const DEMO_UNIT_DATA = {
             currentTask: "Holding",
             currentState: "Idle",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000,
+            desiredSpeed: 400,
+            desiredSpeedType: "CAS",
+            desiredAltitude: 3000,
+            desiredAltitudeType: "ASL",
             isTanker: false,
-            TACANOn: false,
-            TACANChannel: 32,
-            TACANXY: "Y",
-            TACANCallsign: "ASD",
-            radioFrequency: 123.750,
-            radioCallsign: 2,
-            radioCallsignNumber: 3,
-            radioAMFM: "FM"
+
         },
         optionsData: {
             ROE: "Designated",
@@ -101,8 +96,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 300,
-            targetAltitude: 3000
+            desiredSpeed: 300,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "Designated",
@@ -112,7 +107,7 @@ const DEMO_UNIT_DATA = {
     ["3"]:{
         baseData: {
             AI: true,
-            name: "2S6 Tunguska",
+            name: "M-60",
             unitName: "Olympus 1-3",
             groupName: "Group 4",
             alive: true,
@@ -144,8 +139,9 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000,
+            onOff: false
         },
         optionsData: {
             ROE: "None",
@@ -157,7 +153,6 @@ const DEMO_UNIT_DATA = {
             AI: true,
             name: "2S6 Tunguska",
             unitName: "Olympus 1-4",
-            groupName: "Group 1",
             alive: true,
             category: "GroundUnit",
         },
@@ -187,8 +182,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -230,8 +225,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -273,8 +268,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -316,8 +311,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -359,8 +354,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -402,8 +397,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -445,8 +440,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -488,8 +483,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -531,8 +526,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -574,8 +569,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
@@ -617,8 +612,8 @@ const DEMO_UNIT_DATA = {
         taskData: {
             currentTask: "Example task",
             activePath: undefined,
-            targetSpeed: 400,
-            targetAltitude: 3000
+            desiredSpeed: 400,
+            desiredAltitude: 3000
         },
         optionsData: {
             ROE: "None",
diff --git a/client/src/@types/unit.d.ts b/client/src/@types/unit.d.ts
index e6b1b345..0a7847b9 100644
--- a/client/src/@types/unit.d.ts
+++ b/client/src/@types/unit.d.ts
@@ -3,7 +3,7 @@ interface UpdateData {
 }
 
 interface BaseData {
-    AI: boolean;
+    controlled: boolean;
     name: string;
     unitName: string;
     groupName: string;
@@ -23,7 +23,7 @@ interface MissionData {
     fuel: number;
     flags: any;
     ammo: any;
-    targets: any;
+    contacts: any;
     hasTask: boolean;
     coalition: string;
 }
@@ -36,10 +36,16 @@ interface TaskData {
     currentState: string;
     currentTask: string;
     activePath: any;
-    targetSpeed: number;
-    targetAltitude: number;
+    desiredSpeed: number;
+    desiredSpeedType: string;
+    desiredAltitude: number;
+    desiredAltitudeType: string;
+    targetLocation: any;
     isTanker: boolean;
     isAWACS: boolean;
+    onOff: boolean;
+    followRoads: boolean;
+    targetID: number;
 }
 
 interface OptionsData {
@@ -51,15 +57,6 @@ interface OptionsData {
     generalSettings: GeneralSettings;
 }
 
-interface UnitData {
-    baseData: BaseData;
-    flightData: FlightData;
-    missionData: MissionData;
-    formationData: FormationData;
-    taskData: TaskData;
-    optionsData: OptionsData;
-}
-
 interface TACAN {
     isOn: boolean;
     channel: number;
@@ -91,4 +88,13 @@ interface UnitIconOptions {
     showAmmo: boolean,
     showSummary: boolean, 
     rotateToHeading: boolean
+}
+
+interface UnitData {
+    baseData: BaseData;
+    flightData: FlightData;
+    missionData: MissionData;
+    formationData: FormationData;
+    taskData: TaskData;
+    optionsData: OptionsData;
 }
\ No newline at end of file
diff --git a/client/src/atc/atcboard.ts b/client/src/atc/atcboard.ts
index 959874ab..2edcbc9e 100644
--- a/client/src/atc/atcboard.ts
+++ b/client/src/atc/atcboard.ts
@@ -123,7 +123,7 @@ export abstract class ATCBoard {
                 return false;
             }
 
-            if ( baseData.AI === true ) {
+            if ( baseData.controlled === true ) {
                 //  return false;
             }
 
diff --git a/client/src/atc/unitdatatable.ts b/client/src/atc/unitdatatable.ts
index 3b0b97b8..1ef21f2c 100644
--- a/client/src/atc/unitdatatable.ts
+++ b/client/src/atc/unitdatatable.ts
@@ -48,7 +48,7 @@ export class UnitDataTable extends Panel {
 
             for (const unit of unitsArray) {
 
-                const dataset = [unit.getBaseData().unitName, unit.getBaseData().name, unit.getBaseData().category, (unit.getBaseData().AI) ? "AI" : "Human"];
+                const dataset = [unit.getBaseData().unitName, unit.getBaseData().name, unit.getBaseData().category, (unit.getBaseData().controlled) ? "AI" : "Human"];
 
                 addRow(el, dataset);
             }
diff --git a/client/src/panels/unitcontrolpanel.ts b/client/src/panels/unitcontrolpanel.ts
index ea90161d..c5d6f489 100644
--- a/client/src/panels/unitcontrolpanel.ts
+++ b/client/src/panels/unitcontrolpanel.ts
@@ -3,34 +3,22 @@ import { getUnitsManager } from "..";
 import { Dropdown } from "../controls/dropdown";
 import { Slider } from "../controls/slider";
 import { aircraftDatabase } from "../units/aircraftdatabase";
-import { groundUnitsDatabase } from "../units/groundunitsdatabase";
-import { Aircraft, GroundUnit, Unit } from "../units/unit";
-import { UnitDatabase } from "../units/unitdatabase";
+import { Unit } from "../units/unit";
 import { Panel } from "./panel";
-
-const ROEs: string[] = ["Hold", "Return", "Designated", "Free"];
-const reactionsToThreat: string[] = ["None", "Manoeuvre", "Passive", "Evade"];
-const emissionsCountermeasures: string[] = ["Silent", "Attack", "Defend", "Free"];
-
-const ROEDescriptions: string[] = ["Hold (Never fire)", "Return (Only fire if fired upon)", "Designated (Attack the designated target only)", "Free (Attack anyone)"];
-const reactionsToThreatDescriptions: string[] = ["None (No reaction)", "Manoeuvre (no countermeasures)", "Passive (Countermeasures only, no manoeuvre)", "Evade (Countermeasures and manoeuvers)"];
-const emissionsCountermeasuresDescriptions: string[] = ["Silent (Radar OFF, no ECM)", "Attack (Radar only for targeting, ECM only if locked)", "Defend (Radar for searching, ECM if locked)", "Always on (Radar and ECM always on)"];
-
-const minSpeedValues: { [key: string]: number } = { Aircraft: 100, Helicopter: 0, NavyUnit: 0, GroundUnit: 0 };
-const maxSpeedValues: { [key: string]: number } = { Aircraft: 800, Helicopter: 300, NavyUnit: 60, GroundUnit: 60 };
-const speedIncrements: { [key: string]: number } = { Aircraft: 25, Helicopter: 10, NavyUnit: 5, GroundUnit: 5 };
-const minAltitudeValues: { [key: string]: number } = { Aircraft: 0, Helicopter: 0 };
-const maxAltitudeValues: { [key: string]: number } = { Aircraft: 50000, Helicopter: 10000 };
-const altitudeIncrements: { [key: string]: number } = { Aircraft: 500, Helicopter: 100 };
+import { Switch } from "../controls/switch";
+import { ROEDescriptions, ROEs, altitudeIncrements, emissionsCountermeasures, emissionsCountermeasuresDescriptions, maxAltitudeValues, maxSpeedValues, minAltitudeValues, minSpeedValues, reactionsToThreat, reactionsToThreatDescriptions, speedIncrements } from "../constants/constants";
+import { ftToM, knotsToMs, mToFt, msToKnots } from "../other/utils";
 
 export class UnitControlPanel extends Panel {
     #altitudeSlider: Slider;
-    #airspeedSlider: Slider;
+    #altitudeTypeSwitch: Switch;
+    #speedSlider: Slider;
+    #speedTypeSwitch: Switch;
+    #onOffSwitch: Switch;
+    #followRoadsSwitch: Switch;
     #TACANXYDropdown: Dropdown;
     #radioDecimalsDropdown: Dropdown;
     #radioCallsignDropdown: Dropdown;
-    #expectedAltitude: number = -1;
-    #expectedSpeed: number = -1;
     #optionButtons: { [key: string]: HTMLButtonElement[] } = {}
     #advancedSettingsDialog: HTMLElement;
 
@@ -38,22 +26,11 @@ export class UnitControlPanel extends Panel {
         super(ID);
 
         /* Unit control sliders */
-        this.#altitudeSlider = new Slider("altitude-slider", 0, 100, "ft", (value: number) => {
-            this.#expectedAltitude = value;
-            getUnitsManager().selectedUnitsSetAltitude(value * 0.3048)
-        });
+        this.#altitudeSlider = new Slider("altitude-slider", 0, 100, "ft", (value: number) => { getUnitsManager().selectedUnitsSetAltitude(ftToM(value)); });
+        this.#altitudeTypeSwitch = new Switch("altitude-type-switch", (value: boolean) => { getUnitsManager().selectedUnitsSetAltitudeType(value? "AGL": "ASL"); });
 
-        this.#airspeedSlider = new Slider("airspeed-slider", 0, 100, "kts", (value: number) => {
-            this.#expectedSpeed = value;
-            getUnitsManager().selectedUnitsSetSpeed(value / 1.94384)
-        });
-
-        /* Advanced settings dropdowns */
-        this.#TACANXYDropdown = new Dropdown("TACAN-XY", () => {});
-        this.#TACANXYDropdown.setOptions(["X", "Y"]);
-        this.#radioDecimalsDropdown = new Dropdown("radio-decimals", () => {});
-        this.#radioDecimalsDropdown.setOptions([".000", ".250", ".500", ".750"]);
-        this.#radioCallsignDropdown = new Dropdown("radio-callsign", () => {});
+        this.#speedSlider = new Slider("speed-slider", 0, 100, "kts", (value: number) => { getUnitsManager().selectedUnitsSetSpeed(knotsToMs(value)); });
+        this.#speedTypeSwitch = new Switch("speed-type-switch", (value: boolean) => { getUnitsManager().selectedUnitsSetSpeedType(value? "GS": "CAS"); });
 
         /* Option buttons */
         this.#optionButtons["ROE"] = ROEs.map((option: string, index: number) => {
@@ -72,8 +49,27 @@ export class UnitControlPanel extends Panel {
         this.getElement().querySelector("#reaction-to-threat-buttons-container")?.append(...this.#optionButtons["reactionToThreat"]);
         this.getElement().querySelector("#emissions-countermeasures-buttons-container")?.append(...this.#optionButtons["emissionsCountermeasures"]);
 
+        /* On off switch */
+        this.#onOffSwitch = new Switch("on-off-switch", (value: boolean) => {
+            getUnitsManager().selectedUnitsSetOnOff(value);
+        });
+
+        /* Follow roads switch */
+        this.#followRoadsSwitch = new Switch("follow-roads-switch", (value: boolean) => {
+            getUnitsManager().selectedUnitsSetFollowRoads(value);
+        });
+
+        /* Advanced settings dialog */
         this.#advancedSettingsDialog = <HTMLElement> document.querySelector("#advanced-settings-dialog");
 
+        /* Advanced settings dropdowns */
+        this.#TACANXYDropdown = new Dropdown("TACAN-XY", () => {});
+        this.#TACANXYDropdown.setOptions(["X", "Y"]);
+        this.#radioDecimalsDropdown = new Dropdown("radio-decimals", () => {});
+        this.#radioDecimalsDropdown.setOptions([".000", ".250", ".500", ".750"]);
+        this.#radioCallsignDropdown = new Dropdown("radio-callsign", () => {});
+
+        /* Events and timer */
         window.setInterval(() => {this.update();}, 25);
 
         document.addEventListener("unitsSelection", (e: CustomEvent<Unit[]>) => { this.show(); this.addButtons();});
@@ -82,35 +78,30 @@ export class UnitControlPanel extends Panel {
         document.addEventListener("showAdvancedSettings", () => {
             this.#updateAdvancedSettingsDialog(getUnitsManager().getSelectedUnits());
             this.#advancedSettingsDialog.classList.remove("hide");
-        })
+        });
 
         this.hide();
     }
 
-    //  Do this after panel is hidden (make sure there's a reset)
-    hide() {
-        super.hide();
-
-        this.#expectedAltitude = -1;
-        this.#expectedSpeed = -1;
+    show() {
+        super.show();
+        this.#speedTypeSwitch.resetExpectedValue();
+        this.#altitudeTypeSwitch.resetExpectedValue();
+        this.#onOffSwitch.resetExpectedValue();
+        this.#followRoadsSwitch.resetExpectedValue();
+        this.#altitudeSlider.resetExpectedValue();
+        this.#speedSlider.resetExpectedValue();
     }
 
     addButtons() {
         var units = getUnitsManager().getSelectedUnits();
         if (units.length < 20) {
             this.getElement().querySelector("#selected-units-container")?.replaceChildren(...units.map((unit: Unit, index: number) => {
-                let database: UnitDatabase | null;
-                if (unit instanceof Aircraft)
-                    database = aircraftDatabase;
-                else if (unit instanceof GroundUnit)
-                    database = groundUnitsDatabase;
-                else
-                    database = null; // TODO add databases for other unit types
-
                 var button = document.createElement("button");
                 var callsign = unit.getBaseData().unitName || "";
+                var label = unit.getDatabase()?.getByName(unit.getBaseData().name)?.label || unit.getBaseData().name;
 
-                button.setAttribute("data-short-label", database?.getByName(unit.getBaseData().name)?.shortLabel || unit.getBaseData().name);
+                button.setAttribute("data-label", label);
                 button.setAttribute("data-callsign", callsign);
 
                 button.setAttribute("data-coalition", unit.getMissionData().coalition);
@@ -131,11 +122,53 @@ export class UnitControlPanel extends Panel {
 
     update() {
         if (this.getVisible()){
-            var units = getUnitsManager().getSelectedUnits();
-            this.getElement().querySelector("#advanced-settings-div")?.classList.toggle("hide", units.length != 1);
-            if (this.getElement() != null && units.length > 0) {
-                this.#showFlightControlSliders(units);
+            const element = this.getElement();
+            const units = getUnitsManager().getSelectedUnits();
+            const selectedUnitsTypes = getUnitsManager().getSelectedUnitsTypes();
+                
+            if (element != null && units.length > 0) {
+                /* Toggle visibility of control elements */
+                element.toggleAttribute("data-show-categories-tooltip", selectedUnitsTypes.length > 1);
+                element.toggleAttribute("data-show-speed-slider", selectedUnitsTypes.length == 1);
+                element.toggleAttribute("data-show-altitude-slider", selectedUnitsTypes.length == 1 && (selectedUnitsTypes.includes("Aircraft") || selectedUnitsTypes.includes("Helicopter")));
+                element.toggleAttribute("data-show-roe", true);
+                element.toggleAttribute("data-show-threat", (selectedUnitsTypes.includes("Aircraft") || selectedUnitsTypes.includes("Helicopter")) && !(selectedUnitsTypes.includes("GroundUnit") || selectedUnitsTypes.includes("NavyUnit")));
+                element.toggleAttribute("data-show-emissions-countermeasures", (selectedUnitsTypes.includes("Aircraft") || selectedUnitsTypes.includes("Helicopter")) && !(selectedUnitsTypes.includes("GroundUnit") || selectedUnitsTypes.includes("NavyUnit")));
+                element.toggleAttribute("data-show-on-off", (selectedUnitsTypes.includes("GroundUnit") || selectedUnitsTypes.includes("NavyUnit")) && !(selectedUnitsTypes.includes("Aircraft") || selectedUnitsTypes.includes("Helicopter")));
+                element.toggleAttribute("data-show-follow-roads", (selectedUnitsTypes.length == 1 && selectedUnitsTypes.includes("GroundUnit")));
+                element.toggleAttribute("data-show-advanced-settings-button", units.length == 1);
+                
+                /* Flight controls */
+                var desiredAltitude: number | undefined = getUnitsManager().getSelectedUnitsVariable((unit: Unit) => {return unit.getTaskData().desiredAltitude});
+                var desiredAltitudeType = getUnitsManager().getSelectedUnitsVariable((unit: Unit) => {return unit.getTaskData().desiredAltitudeType});
+                var desiredSpeed = getUnitsManager().getSelectedUnitsVariable((unit: Unit) => {return unit.getTaskData().desiredSpeed});
+                var desiredSpeedType = getUnitsManager().getSelectedUnitsVariable((unit: Unit) => {return unit.getTaskData().desiredSpeedType});
+                var onOff = getUnitsManager().getSelectedUnitsVariable((unit: Unit) => {return unit.getTaskData().onOff});
+                var followRoads = getUnitsManager().getSelectedUnitsVariable((unit: Unit) => {return unit.getTaskData().followRoads});
 
+                if (selectedUnitsTypes.length == 1) {
+                    this.#altitudeTypeSwitch.setValue(desiredAltitudeType != undefined? desiredAltitudeType == "AGL": undefined, false);
+                    this.#speedTypeSwitch.setValue(desiredSpeedType != undefined? desiredSpeedType == "GS": undefined, false);
+
+                    this.#speedSlider.setMinMax(minSpeedValues[selectedUnitsTypes[0]], maxSpeedValues[selectedUnitsTypes[0]]);
+                    this.#altitudeSlider.setMinMax(minAltitudeValues[selectedUnitsTypes[0]], maxAltitudeValues[selectedUnitsTypes[0]]);
+                    this.#speedSlider.setIncrement(speedIncrements[selectedUnitsTypes[0]]);
+                    this.#altitudeSlider.setIncrement(altitudeIncrements[selectedUnitsTypes[0]]);
+
+                    this.#speedSlider.setActive(desiredSpeed != undefined);
+                    if (desiredSpeed != undefined)
+                        this.#speedSlider.setValue(msToKnots(desiredSpeed), false);
+
+                    this.#altitudeSlider.setActive(desiredAltitude != undefined);
+                    if (desiredAltitude != undefined)
+                        this.#altitudeSlider.setValue(mToFt(desiredAltitude), false);
+                }
+                else {
+                    this.#speedSlider.setActive(false);
+                    this.#altitudeSlider.setActive(false);
+                }
+
+                /* Option buttons */
                 this.#optionButtons["ROE"].forEach((button: HTMLButtonElement) => {
                     button.classList.toggle("selected", units.every((unit: Unit) => unit.getOptionsData().ROE === button.value))
                 });
@@ -147,75 +180,13 @@ export class UnitControlPanel extends Panel {
                 this.#optionButtons["emissionsCountermeasures"].forEach((button: HTMLButtonElement) => {
                     button.classList.toggle("selected", units.every((unit: Unit) => unit.getOptionsData().emissionsCountermeasures === button.value))
                 });
+
+                this.#onOffSwitch.setValue(onOff, false);
+                this.#followRoadsSwitch.setValue(followRoads, false);
             }
         }
     }
 
-    /*  Update function will only be allowed to update the sliders once it's matched the expected value for the first time (due to lag of Ajax request) */
-    #updateCanSetAltitudeSlider(altitude: number) {
-        if (this.#expectedAltitude < 0 || altitude === this.#expectedAltitude) {
-            this.#expectedAltitude = -1;
-            return true;
-        }
-        return false;
-    }
-
-    #updateCanSetSpeedSlider(altitude: number) {
-        if (this.#expectedSpeed < 0 || altitude === this.#expectedSpeed) {
-            this.#expectedSpeed = -1;
-            return true;
-        }
-        return false;
-    }
-
-    #showFlightControlSliders(units: Unit[]) {
-        if (getUnitsManager().getSelectedUnitsType() !== undefined)
-            this.#airspeedSlider.show()
-        else
-            this.#airspeedSlider.hide();
-
-        if (getUnitsManager().getSelectedUnitsType() === "Aircraft" || getUnitsManager().getSelectedUnitsType() === "Helicopter")
-            this.#altitudeSlider.show()
-        else
-            this.#altitudeSlider.hide();
-
-        this.getElement().querySelector(`#categories-tooltip`)?.classList.toggle("hide", getUnitsManager().getSelectedUnitsType() !== undefined);
-
-        var unitsType = getUnitsManager().getSelectedUnitsType();
-        var targetAltitude = getUnitsManager().getSelectedUnitsTargetAltitude();
-        var targetSpeed = getUnitsManager().getSelectedUnitsTargetSpeed();
-
-        if (unitsType != undefined) {
-            if (["GroundUnit", "NavyUnit"].includes(unitsType))
-                this.#altitudeSlider.hide()
-
-            this.#airspeedSlider.setMinMax(minSpeedValues[unitsType], maxSpeedValues[unitsType]);
-            this.#altitudeSlider.setMinMax(minAltitudeValues[unitsType], maxAltitudeValues[unitsType]);
-            this.#airspeedSlider.setIncrement(speedIncrements[unitsType]);
-            this.#altitudeSlider.setIncrement(altitudeIncrements[unitsType]);
-
-            this.#airspeedSlider.setActive(targetSpeed != undefined);
-            if (targetSpeed != undefined) {
-                targetSpeed *= 1.94384;
-                if (this.#updateCanSetSpeedSlider(targetSpeed)) {
-                    this.#airspeedSlider.setValue(targetSpeed);
-                }
-            }
-
-            this.#altitudeSlider.setActive(targetAltitude != undefined);
-            if (targetAltitude != undefined) {
-                targetAltitude /= 0.3048;
-                if (this.#updateCanSetAltitudeSlider(targetAltitude)) {
-                    this.#altitudeSlider.setValue(targetAltitude);
-                }
-            }
-        }
-        else {
-            this.#airspeedSlider.setActive(false);
-            this.#altitudeSlider.setActive(false);
-        }
-    }
-
     #updateAdvancedSettingsDialog(units: Unit[])
     {
         if (units.length == 1)
diff --git a/client/src/panels/unitinfopanel.ts b/client/src/panels/unitinfopanel.ts
index 4d4eb77e..91e18920 100644
--- a/client/src/panels/unitinfopanel.ts
+++ b/client/src/panels/unitinfopanel.ts
@@ -16,7 +16,7 @@ export class UnitInfoPanel extends Panel {
     #latitude: HTMLElement;
     #longitude: HTMLElement;
     #loadoutContainer: HTMLElement;
-    #silhouette: HTMLElement;
+    #silhouette: HTMLImageElement;
     #unitControl: HTMLElement;
     #unitLabel: HTMLElement;
     #unitName: HTMLElement;
@@ -24,21 +24,21 @@ export class UnitInfoPanel extends Panel {
     constructor(ID: string) {
         super(ID);
 
-        this.#altitude         = <HTMLElement>(this.getElement().querySelector("#altitude"));
-        this.#currentTask      = <HTMLElement>(this.getElement().querySelector("#current-task"));
-        this.#groundSpeed      = <HTMLElement>(this.getElement().querySelector("#ground-speed"));
-        this.#fuelBar          = <HTMLElement>(this.getElement().querySelector("#fuel-bar"));
-        this.#fuelPercentage   = <HTMLElement>(this.getElement().querySelector("#fuel-percentage"));
-        this.#groupName        = <HTMLElement>(this.getElement().querySelector("#group-name"));
-        this.#heading          = <HTMLElement>(this.getElement().querySelector("#heading"));
-        this.#name             = <HTMLElement>(this.getElement().querySelector("#name"));
-        this.#latitude         = <HTMLElement>(this.getElement().querySelector("#latitude"));
-        this.#loadoutContainer = <HTMLElement>(this.getElement().querySelector("#loadout-container"));
-        this.#longitude        = <HTMLElement>(this.getElement().querySelector("#longitude"));
-        this.#silhouette       = <HTMLElement>(this.getElement().querySelector("#loadout-silhouette"));
-        this.#unitControl      = <HTMLElement>(this.getElement().querySelector("#unit-control"));
-        this.#unitLabel        = <HTMLElement>(this.getElement().querySelector("#unit-label"));
-        this.#unitName         = <HTMLElement>(this.getElement().querySelector("#unit-name"));
+        this.#altitude = (this.getElement().querySelector("#altitude")) as HTMLElement;
+        this.#currentTask = (this.getElement().querySelector("#current-task")) as HTMLElement;
+        this.#groundSpeed = (this.getElement().querySelector("#ground-speed")) as HTMLElement;
+        this.#fuelBar = (this.getElement().querySelector("#fuel-bar")) as HTMLElement;
+        this.#fuelPercentage = (this.getElement().querySelector("#fuel-percentage")) as HTMLElement;
+        this.#groupName = (this.getElement().querySelector("#group-name")) as HTMLElement;
+        this.#heading = (this.getElement().querySelector("#heading")) as HTMLElement;
+        this.#name = (this.getElement().querySelector("#name")) as HTMLElement;
+        this.#latitude = (this.getElement().querySelector("#latitude")) as HTMLElement;
+        this.#loadoutContainer = (this.getElement().querySelector("#loadout-container")) as HTMLElement;
+        this.#longitude = (this.getElement().querySelector("#longitude")) as HTMLElement;
+        this.#silhouette = (this.getElement().querySelector("#loadout-silhouette")) as HTMLImageElement;
+        this.#unitControl = (this.getElement().querySelector("#unit-control")) as HTMLElement;
+        this.#unitLabel = (this.getElement().querySelector("#unit-label")) as HTMLElement;
+        this.#unitName = (this.getElement().querySelector("#unit-name")) as HTMLElement;
 
         document.addEventListener("unitsSelection", (e: CustomEvent<Unit[]>) => this.#onUnitsSelection(e.detail));
         document.addEventListener("unitsDeselection", (e: CustomEvent<Unit[]>) => this.#onUnitsDeselection(e.detail));
@@ -47,69 +47,65 @@ export class UnitInfoPanel extends Panel {
 
         this.hide();
     }
-    
+
     #onUnitUpdate(unit: Unit) {
         if (this.getElement() != null && this.getVisible() && unit.getSelected()) {
 
             const baseData = unit.getBaseData();
 
             /* Set the unit info */
-            this.#unitLabel.innerText   = aircraftDatabase.getByName(baseData.name)?.label || baseData.name;
-            this.#unitName.innerText    = baseData.unitName;
-            this.#unitControl.innerText = ( ( baseData.AI ) ? "AI" : "Human" ) + " controlled";
-            // this.#groupName.innerText = baseData.groupName;
-            //this.#name.innerText = baseData.name;
-            //this.#heading.innerText = String(Math.floor(rad2deg(unit.getFlightData().heading)) + " °");
-            //this.#altitude.innerText = String(Math.floor(unit.getFlightData().altitude / 0.3048) + " ft");
-            //this.#groundSpeed.innerText = String(Math.floor(unit.getFlightData().speed * 1.94384) + " kts");
+            this.#unitLabel.innerText = aircraftDatabase.getByName(baseData.name)?.label || baseData.name;
+            this.#unitName.innerText = baseData.unitName;
+            if (unit.getMissionData().flags.Human)
+                this.#unitControl.innerText = "Human";
+            else if (baseData.controlled)
+                this.#unitControl.innerText = "Olympus controlled";
+            else
+                this.#unitControl.innerText = "DCS Controlled";
             this.#fuelBar.style.width = String(unit.getMissionData().fuel + "%");
             this.#fuelPercentage.dataset.percentage = "" + unit.getMissionData().fuel;
-            //this.#latitude.innerText = ConvertDDToDMS(unit.getFlightData().latitude, false);
-            //this.#longitude.innerText = ConvertDDToDMS(unit.getFlightData().longitude, true);
-            this.#currentTask.dataset.currentTask = unit.getTaskData().currentTask !== ""? unit.getTaskData().currentTask: "No task";
+            this.#currentTask.dataset.currentTask = unit.getTaskData().currentTask !== "" ? unit.getTaskData().currentTask : "No task";
             this.#currentTask.dataset.coalition = unit.getMissionData().coalition;
-            
-            this.#silhouette.setAttribute( "style", `--loadout-background-image:url('/images/units/${aircraftDatabase.getByName( baseData.name )?.filename}');` );;
-            
+
+            this.#silhouette.src = `/images/units/${unit.getDatabase()?.getByName(baseData.name)?.filename}`;
+            this.#silhouette.classList.toggle("hide", unit.getDatabase()?.getByName(baseData.name)?.filename == undefined || unit.getDatabase()?.getByName(baseData.name)?.filename == '');
+
             /* Add the loadout elements */
-            const items = <HTMLElement>this.#loadoutContainer.querySelector( "#loadout-items" );
-
-
-            if ( items ) {
-
-                const ammo = Object.values( unit.getMissionData().ammo ); 
-
-                if ( ammo.length > 0 ) {
+            const items = <HTMLElement>this.#loadoutContainer.querySelector("#loadout-items");
 
+            if (items) {
+                const ammo = Object.values(unit.getMissionData().ammo);
+                if (ammo.length > 0) {
                     items.replaceChildren(...Object.values(unit.getMissionData().ammo).map(
                         (ammo: any) => {
                             var el = document.createElement("div");
-                            el.dataset.qty  = ammo.count;
+                            el.dataset.qty = ammo.count;
                             el.dataset.item = ammo.desc.displayName;
                             return el;
                         }
                     ));
 
                 } else {
-
                     items.innerText = "No loadout";
-                    
                 }
-
             }
         }
     }
 
-    #onUnitsSelection(units: Unit[]){
-        if (units.length == 1)
+    #onUnitsSelection(units: Unit[]) {
+        if (units.length == 1) {
             this.show();
+            this.#onUnitUpdate(units[0]);
+        }
         else
             this.hide();
     }
 
-    #onUnitsDeselection(units: Unit[]){
-        if (units.length == 1)
+    #onUnitsDeselection(units: Unit[]) {
+        if (units.length == 1) {
             this.show();
+            this.#onUnitUpdate(units[0]);
+        }
         else
             this.hide();
     }
diff --git a/client/src/units/aircraftdatabase.ts b/client/src/units/aircraftdatabase.ts
index f2448468..5ad7622b 100644
--- a/client/src/units/aircraftdatabase.ts
+++ b/client/src/units/aircraftdatabase.ts
@@ -2456,8 +2456,8 @@ export class AircraftDatabase extends UnitDatabase {
             ],
             "filename": "kc-135.png"
          },
-         "KC-135MPRS": {
-            "name": "KC-135MPRS",
+         "KC135MPRS": {
+            "name": "KC135MPRS",
             "label": "KC-135 MPRS Stratotanker",
             "era": ["Early Cold War", "Mid Cold War", "Late Cold War", "Modern"],
             "shortLabel": "135M",
@@ -2476,6 +2476,26 @@ export class AircraftDatabase extends UnitDatabase {
             ],
             "filename": "kc-135.png"
          },
+         "S-3B Tanker": {
+            "name": "S-3B Tanker",
+            "label": "S-3B Tanker",
+            "era": ["Early Cold War", "Mid Cold War", "Late Cold War", "Modern"],
+            "shortLabel": "S3B",
+            "loadouts": [
+               {
+                  "fuel": 1,
+                  "items": [
+
+                  ],
+                  "roles": [
+                     "Tanker"
+                  ],
+                  "code": "",
+                  "name": "Default Tanker"
+               }
+            ],
+            "filename": "s-3.png"
+         },
          "MiG-15bis": {
             "name": "MiG-15bis",
             "label": "MiG-15 Fagot",
diff --git a/client/src/units/unit.ts b/client/src/units/unit.ts
index d2c70b46..54e9d37b 100644
--- a/client/src/units/unit.ts
+++ b/client/src/units/unit.ts
@@ -1,12 +1,14 @@
 import { Marker, LatLng, Polyline, Icon, DivIcon, CircleMarker, Map } from 'leaflet';
 import { getMap, getUnitsManager } from '..';
-import { rad2deg } from '../other/utils';
-import { addDestination, attackUnit, changeAltitude, changeSpeed, createFormation as setLeader, deleteUnit, getUnits, landAt, setAltitude, setReactionToThreat, setROE, setSpeed, refuel, setAdvacedOptions, followUnit, setEmissionsCountermeasures } from '../server/server';
+import { mToFt, msToKnots, rad2deg } from '../other/utils';
+import { addDestination, attackUnit, changeAltitude, changeSpeed, createFormation as setLeader, deleteUnit, getUnits, landAt, setAltitude, setReactionToThreat, setROE, setSpeed, refuel, setAdvacedOptions, followUnit, setEmissionsCountermeasures, setSpeedType, setAltitudeType, setOnOff, setFollowRoads, bombPoint, carpetBomb, bombBuilding, fireAtArea } from '../server/server';
 import { aircraftDatabase } from './aircraftdatabase';
 import { groundUnitsDatabase } from './groundunitsdatabase';
 import { CustomMarker } from '../map/custommarker';
 import { SVGInjector } from '@tanem/svg-injector';
 import { UnitDatabase } from './unitdatabase';
+import { BOMBING, CARPET_BOMBING, FIRE_AT_AREA, IDLE, MOVE_UNIT } from '../map/map';
+import { TargetMarker } from '../map/targetmarker';
 
 var pathIcon = new Icon({
     iconUrl: '/resources/theme/images/markers/marker-icon.png',
@@ -19,7 +21,7 @@ export class Unit extends CustomMarker {
 
     #data: UnitData = {
         baseData: {
-            AI: false,
+            controlled: false,
             name: "",
             unitName: "",
             groupName: "",
@@ -37,7 +39,7 @@ export class Unit extends CustomMarker {
             fuel: 0,
             flags: {},
             ammo: {},
-            targets: {},
+            contacts: {},
             hasTask: false,
             coalition: "",
         },
@@ -48,10 +50,16 @@ export class Unit extends CustomMarker {
             currentState: "NONE",
             currentTask: "",
             activePath: {},
-            targetSpeed: 0,
-            targetAltitude: 0,
+            desiredSpeed: 0,
+            desiredSpeedType: "GS",
+            desiredAltitude: 0,
+            desiredAltitudeType: "AGL",
+            targetLocation: {},
             isTanker: false,
             isAWACS: false,
+            onOff: true,
+            followRoads: false,
+            targetID: 0
         },
         optionsData: {
             ROE: "",
@@ -72,8 +80,10 @@ export class Unit extends CustomMarker {
 
     #pathMarkers: Marker[] = [];
     #pathPolyline: Polyline;
-    #targetsPolylines: Polyline[];
+    #contactsPolylines: Polyline[];
     #miniMapMarker: CircleMarker | null = null;
+    #targetLocationMarker: TargetMarker;
+    #targetLocationPolyline: Polyline;
 
     #timer: number = 0;
 
@@ -103,7 +113,10 @@ export class Unit extends CustomMarker {
 
         this.#pathPolyline = new Polyline([], { color: '#2d3e50', weight: 3, opacity: 0.5, smoothFactor: 1 });
         this.#pathPolyline.addTo(getMap());
-        this.#targetsPolylines = [];
+        this.#contactsPolylines = [];
+
+        this.#targetLocationMarker = new TargetMarker(new LatLng(0, 0));
+        this.#targetLocationPolyline = new Polyline([], { color: '#FF0000', weight: 3, opacity: 0.5, smoothFactor: 1 });
 
         /* Deselect units if they are hidden */
         document.addEventListener("toggleCoalitionVisibility", (ev: CustomEventInit) => {
@@ -116,8 +129,6 @@ export class Unit extends CustomMarker {
 
         /* Set the unit data */
         this.setData(data);
-
-        
     }
 
     getMarkerCategory() {
@@ -150,11 +161,16 @@ export class Unit extends CustomMarker {
         if ((this.getBaseData().alive || !selected) && this.getSelectable() && this.getSelected() != selected) {
             this.#selected = selected;
             this.getElement()?.querySelector(`[data-object|="unit"]`)?.toggleAttribute("data-is-selected", selected);
-            if (selected)
+            if (selected) {
                 document.dispatchEvent(new CustomEvent("unitSelection", { detail: this }));
-            else 
+                this.#updateMarker();
+            }
+            else {
                 document.dispatchEvent(new CustomEvent("unitDeselection", { detail: this }));
-            this.getGroupMembers().forEach((unit: Unit) => unit.setSelected(selected));
+                this.#clearDetectedUnits();
+                this.#clearPath();
+                this.#clearTarget();
+            }
         }
     }
 
@@ -201,50 +217,23 @@ export class Unit extends CustomMarker {
         const positionChanged = (data.flightData != undefined && data.flightData.latitude != undefined && data.flightData.longitude != undefined && (this.getFlightData().latitude != data.flightData.latitude || this.getFlightData().longitude != data.flightData.longitude));
         const headingChanged = (data.flightData != undefined && data.flightData.heading != undefined && this.getFlightData().heading != data.flightData.heading);
         const aliveChanged = (data.baseData != undefined && data.baseData.alive != undefined && this.getBaseData().alive != data.baseData.alive);
-        var updateMarker = (positionChanged || headingChanged || aliveChanged || !getMap().hasLayer(this));
-
-        if (data.baseData != undefined) {
-            for (let key in this.#data.baseData)
-                if (key in data.baseData)
-                    //@ts-ignore
-                    this.#data.baseData[key] = data.baseData[key];
-        }
-
-        if (data.flightData != undefined) {
-            for (let key in this.#data.flightData)
-                if (key in data.flightData)
-                    //@ts-ignore
-                    this.#data.flightData[key] = data.flightData[key];
-        }
-
-        if (data.missionData != undefined) {
-            for (let key in this.#data.missionData)
-                if (key in data.missionData)
-                    //@ts-ignore
-                    this.#data.missionData[key] = data.missionData[key];
-        }
-
-        if (data.formationData != undefined) {
-            for (let key in this.#data.formationData)
-                if (key in data.formationData)
-                    //@ts-ignore
-                    this.#data.formationData[key] = data.formationData[key];
-        }
-
-        if (data.taskData != undefined) {
-            for (let key in this.#data.taskData)
-                if (key in data.taskData)
-                    //@ts-ignore
-                    this.#data.taskData[key] = data.taskData[key];
-        }
-
-        if (data.optionsData != undefined) {
-            for (let key in this.#data.optionsData)
-                if (key in data.optionsData)
-                    //@ts-ignore
-                    this.#data.optionsData[key] = data.optionsData[key];
-        }
+        const stateChanged = (data.taskData != undefined && data.taskData.currentState != undefined && this.getTaskData().currentState != data.taskData.currentState);
+        const controlledChanged = (data.baseData != undefined && data.baseData.controlled != undefined && this.getBaseData().controlled != data.baseData.controlled);
+        var updateMarker = (positionChanged || headingChanged || aliveChanged || stateChanged || controlledChanged || !getMap().hasLayer(this));
 
+        /* Load the data from the received json */
+        Object.keys(this.#data).forEach((key1: string) => {
+            Object.keys(this.#data[key1 as keyof(UnitData)]).forEach((key2: string) => {
+                if (key1 in data && key2 in data[key1]) {
+                    var value1 = this.#data[key1 as keyof(UnitData)];
+                    var value2 = value1[key2 as keyof typeof value1];
+                    if (typeof data[key1][key2] === typeof value2 || typeof value2 === "undefined")
+                        //@ts-ignore
+                        this.#data[key1 as keyof(UnitData)][key2 as keyof typeof struct] = data[key1][key2];
+                }
+            });
+        });
+        
         /* Fire an event when a unit dies */
         if (aliveChanged && this.getBaseData().alive == false)
             document.dispatchEvent(new CustomEvent("unitDeath", { detail: this }));
@@ -255,13 +244,17 @@ export class Unit extends CustomMarker {
         if (updateMarker)
             this.#updateMarker();
 
-        this.#clearTargets();
+        this.#clearDetectedUnits();
         if (this.getSelected()) {
             this.#drawPath();
-            this.#drawTargets();
+            this.#drawDetectedUnits();
+            this.#drawTarget();
         }
-        else
+        else {
             this.#clearPath();
+            this.#clearTarget();
+        }
+            
 
         document.dispatchEvent(new CustomEvent("unitUpdated", { detail: this }));
     }
@@ -400,7 +393,7 @@ export class Unit extends CustomMarker {
         const hiddenUnits = getUnitsManager().getHiddenTypes();
         if (this.getMissionData().flags.Human && hiddenUnits.includes("human"))
             hidden = true;
-        else if (this.getBaseData().AI == false && hiddenUnits.includes("dcs"))
+        else if (this.getBaseData().controlled == false && hiddenUnits.includes("dcs"))
             hidden = true;
         else if (hiddenUnits.includes(this.getMarkerCategory()))
             hidden = true;
@@ -431,6 +424,15 @@ export class Unit extends CustomMarker {
         return getUnitsManager().getUnitByID(this.getFormationData().leaderID);
     }
 
+    canRole(roles: string | string[]) {
+        if (typeof(roles) === "string") 
+            roles = [roles];
+
+        return this.getDatabase()?.getByName(this.getBaseData().name)?.loadouts.some((loadout: LoadoutBlueprint) => {
+            return (roles as string[]).some((role: string) => {return loadout.roles.includes(role)});
+        });
+    }
+
     /********************** Unit commands *************************/
     addDestination(latlng: L.LatLng) {
         if (!this.getMissionData().flags.Human) {
@@ -485,11 +487,21 @@ export class Unit extends CustomMarker {
             setSpeed(this.ID, speed);
     }
 
+    setSpeedType(speedType: string) {
+        if (!this.getMissionData().flags.Human)
+            setSpeedType(this.ID, speedType);
+    }
+
     setAltitude(altitude: number) {
         if (!this.getMissionData().flags.Human)
             setAltitude(this.ID, altitude);
     }
 
+    setAltitudeType(altitudeType: string) {
+        if (!this.getMissionData().flags.Human)
+            setAltitudeType(this.ID, altitudeType);
+    }
+
     setROE(ROE: string) {
         if (!this.getMissionData().flags.Human)
             setROE(this.ID, ROE);
@@ -510,8 +522,18 @@ export class Unit extends CustomMarker {
             setLeader(this.ID, isLeader, wingmenIDs);
     }
 
-    delete() {
-        deleteUnit(this.ID);
+    setOnOff(onOff: boolean) {
+        if (!this.getMissionData().flags.Human)
+            setOnOff(this.ID, onOff);
+    }
+
+    setFollowRoads(followRoads: boolean) {
+        if (!this.getMissionData().flags.Human)
+            setFollowRoads(this.ID, followRoads);
+    }
+
+    delete(explosion: boolean) {
+        deleteUnit(this.ID, explosion);
     }
 
     refuel() {
@@ -524,6 +546,22 @@ export class Unit extends CustomMarker {
             setAdvacedOptions(this.ID, isTanker, isAWACS, TACAN, radio, generalSettings);
     }
 
+    bombPoint(latlng: LatLng) {
+        bombPoint(this.ID, latlng);
+    }
+
+    carpetBomb(latlng: LatLng) {
+        carpetBomb(this.ID, latlng);
+    }
+
+    bombBuilding(latlng: LatLng) {
+        bombBuilding(this.ID, latlng);
+    }
+
+    fireAtArea(latlng: LatLng) {
+        fireAtArea(this.ID, latlng);
+    }
+
     /***********************************************/
     onAdd(map: Map): this {
         super.onAdd(map);
@@ -534,10 +572,9 @@ export class Unit extends CustomMarker {
     /***********************************************/
     #onClick(e: any) {
         if (!this.#preventClick) {
-            if (getMap().getState() === 'IDLE' || getMap().getState() === 'MOVE_UNIT' || e.originalEvent.ctrlKey) {
-                if (!e.originalEvent.ctrlKey) {
+            if (getMap().getState() === IDLE || getMap().getState() === MOVE_UNIT || e.originalEvent.ctrlKey) {
+                if (!e.originalEvent.ctrlKey) 
                     getUnitsManager().deselectAllUnits();
-                }
                 this.setSelected(!this.getSelected());
             }
         }
@@ -554,20 +591,35 @@ export class Unit extends CustomMarker {
 
     #onContextMenu(e: any) {
         var options: {[key: string]: {text: string, tooltip: string}} = {};
+        const selectedUnits = getUnitsManager().getSelectedUnits();
+        const selectedUnitTypes = getUnitsManager().getSelectedUnitsTypes();
 
         options["center-map"] = {text: "Center map", tooltip: "Center the map on the unit and follow it"};
 
-        if (getUnitsManager().getSelectedUnits().length > 0 && !(getUnitsManager().getSelectedUnits().length == 1 && (getUnitsManager().getSelectedUnits().includes(this)))) {
+        if (selectedUnits.length > 0 && !(selectedUnits.length == 1 && (selectedUnits.includes(this)))) {
             options["attack"] = {text: "Attack", tooltip: "Attack the unit using A/A or A/G weapons"};
-            if (getUnitsManager().getSelectedUnitsType() === "Aircraft")
+            if (getUnitsManager().getSelectedUnitsTypes().length == 1 && getUnitsManager().getSelectedUnitsTypes()[0] === "Aircraft")
                 options["follow"] = {text: "Follow", tooltip: "Follow the unit at a user defined distance and position"};;
         }
-        else if ((getUnitsManager().getSelectedUnits().length > 0 && (getUnitsManager().getSelectedUnits().includes(this))) || getUnitsManager().getSelectedUnits().length == 0) {
+        else if ((selectedUnits.length > 0 && (selectedUnits.includes(this))) || selectedUnits.length == 0) {
             if (this.getBaseData().category == "Aircraft") {
-                options["refuel"] = {text: "AAR Refuel", tooltip: "Refuel unit at the nearest AAR Tanker. If no tanker is available the unit will RTB."}; // TODO Add some way of knowing which aircraft can AAR
+                options["refuel"] = {text: "Air to air refuel", tooltip: "Refuel unit at the nearest AAR Tanker. If no tanker is available the unit will RTB."}; // TODO Add some way of knowing which aircraft can AAR
             }
         }
 
+        if ((selectedUnits.length === 0 && this.getBaseData().category == "Aircraft") || (selectedUnitTypes.length === 1 && ["Aircraft"].includes(selectedUnitTypes[0]))) 
+        {
+            if (selectedUnits.concat([this]).every((unit: Unit) => {return unit.canRole(["CAS", "Strike"])})) {
+                options["bomb"] = {text: "Precision bombing", tooltip: "Precision bombing of a specific point"};
+                options["carpet-bomb"] = {text: "Carpet bombing", tooltip: "Carpet bombing close to a point"};
+            }
+        }
+
+        if ((selectedUnits.length === 0 && this.getBaseData().category == "GroundUnit") || selectedUnitTypes.length === 1 && ["GroundUnit"].includes(selectedUnitTypes[0])) {
+            if (selectedUnits.concat([this]).every((unit: Unit) => {return unit.canRole(["Gun Artillery", "Rocket Artillery", "Infantry", "IFV", "Tank"])}))
+            options["fire-at-area"] = {text: "Fire at area", tooltip: "Fire at a large area"};  
+        }
+
         if (Object.keys(options).length > 0) {
             getMap().showUnitContextMenu(e);
             getMap().getUnitContextMenu().setOptions(options, (option: string) => {
@@ -586,6 +638,12 @@ export class Unit extends CustomMarker {
             getUnitsManager().selectedUnitsRefuel();
         else if (action === "follow")
             this.#showFollowOptions(e);
+        else if (action === "bomb")
+            getMap().setState(BOMBING);
+        else if (action === "carpet-bomb")
+            getMap().setState(CARPET_BOMBING);
+        else if (action === "fire-at-area")
+            getMap().setState(FIRE_AT_AREA);
     }
 
     #showFollowOptions(e: any) {
@@ -668,16 +726,18 @@ export class Unit extends CustomMarker {
                 /* Set current unit state */
                 if (this.getMissionData().flags.Human)     // Unit is human
                     element.querySelector(".unit")?.setAttribute("data-state", "human");
-                else if (!this.getBaseData().AI)            // Unit is under DCS control (not Olympus)
+                else if (!this.getBaseData().controlled)            // Unit is under DCS control (not Olympus)
                     element.querySelector(".unit")?.setAttribute("data-state", "dcs");
+                else if ((this.getBaseData().category == "Aircraft" || this.getBaseData().category == "Helicopter") && !this.getMissionData().hasTask)
+                    element.querySelector(".unit")?.setAttribute("data-state", "no-task");
                 else                                        // Unit is under Olympus control
                     element.querySelector(".unit")?.setAttribute("data-state", this.getTaskData().currentState.toLowerCase());
 
                 /* Set altitude and speed */
                 if (element.querySelector(".unit-altitude"))
-                    (<HTMLElement>element.querySelector(".unit-altitude")).innerText = "FL" + String(Math.floor(this.getFlightData().altitude / 0.3048 / 100));
+                    (<HTMLElement>element.querySelector(".unit-altitude")).innerText = "FL" + String(Math.floor(mToFt(this.getFlightData().altitude) / 100));
                 if (element.querySelector(".unit-speed"))
-                    (<HTMLElement>element.querySelector(".unit-speed")).innerText = String(Math.floor(this.getFlightData().speed * 1.94384));
+                    (<HTMLElement>element.querySelector(".unit-speed")).innerText = String(Math.floor(msToKnots(this.getFlightData().speed))) + "GS";
 
                 /* Rotate elements according to heading */
                 element.querySelectorAll("[data-rotate-to-heading]").forEach(el => {
@@ -768,35 +828,74 @@ export class Unit extends CustomMarker {
         this.#pathPolyline.setLatLngs([]);
     }
 
-    #drawTargets() {
-        for (let index in this.getMissionData().targets) {
-            var targetData = this.getMissionData().targets[index];
-            var target = getUnitsManager().getUnitByID(targetData.object["id_"])
-            if (target != null) {
-                var startLatLng = new LatLng(this.getFlightData().latitude, this.getFlightData().longitude)
-                var endLatLng = new LatLng(target.getFlightData().latitude, target.getFlightData().longitude)
+    #drawDetectedUnits() {
+        for (let index in this.getMissionData().contacts) {
+            var targetData = this.getMissionData().contacts[index];
+            if (targetData.object != undefined){
+                var target = getUnitsManager().getUnitByID(targetData.object["id_"])
+                if (target != null) {
+                    var startLatLng = new LatLng(this.getFlightData().latitude, this.getFlightData().longitude)
+                    var endLatLng = new LatLng(target.getFlightData().latitude, target.getFlightData().longitude)
 
-                var color;
-                if (targetData.detectionMethod === "RADAR")
-                    color = "#FFFF00";
-                else if (targetData.detectionMethod === "VISUAL")
-                    color = "#FF00FF";
-                else if (targetData.detectionMethod === "RWR")
-                    color = "#00FF00";
-                else
-                    color = "#FFFFFF";
-                var targetPolyline = new Polyline([startLatLng, endLatLng], { color: color, weight: 3, opacity: 0.4, smoothFactor: 1 });
-                targetPolyline.addTo(getMap());
-                this.#targetsPolylines.push(targetPolyline)
+                    var color;
+                    if (targetData.detectionMethod === "RADAR")
+                        color = "#FFFF00";
+                    else if (targetData.detectionMethod === "VISUAL")
+                        color = "#FF00FF";
+                    else if (targetData.detectionMethod === "RWR")
+                        color = "#00FF00";
+                    else
+                        color = "#FFFFFF";
+                    var targetPolyline = new Polyline([startLatLng, endLatLng], { color: color, weight: 3, opacity: 0.4, smoothFactor: 1, dashArray: "4, 8" });
+                    targetPolyline.addTo(getMap());
+                    this.#contactsPolylines.push(targetPolyline)
+                }
             }
         }
     }
 
-    #clearTargets() {
-        for (let index in this.#targetsPolylines) {
-            getMap().removeLayer(this.#targetsPolylines[index])
+    #clearDetectedUnits() {
+        for (let index in this.#contactsPolylines) {
+            getMap().removeLayer(this.#contactsPolylines[index])
         }
     }
+
+    #drawTarget() {
+        const targetLocation = this.getTaskData().targetLocation;
+        
+        if (targetLocation.latitude && targetLocation.longitude && targetLocation.latitude != 0 && targetLocation.longitude != 0) {
+            const lat = targetLocation.latitude;
+            const lng = targetLocation.longitude;
+            if (lat && lng)
+                this.#drawTargetLocation(new LatLng(lat, lng));
+        }
+        else if (this.getTaskData().targetID != 0 && getUnitsManager().getUnitByID(this.getTaskData().targetID)) {
+            const flightData = getUnitsManager().getUnitByID(this.getTaskData().targetID)?.getFlightData();
+            const lat = flightData?.latitude;
+            const lng = flightData?.longitude;
+            if (lat && lng)
+                this.#drawTargetLocation(new LatLng(lat, lng));
+        }
+        else 
+            this.#clearTarget();
+    }
+
+    #drawTargetLocation(targetLocation: LatLng) {
+        if (!getMap().hasLayer(this.#targetLocationMarker)) 
+            this.#targetLocationMarker.addTo(getMap());
+        if (!getMap().hasLayer(this.#targetLocationPolyline))
+            this.#targetLocationPolyline.addTo(getMap());
+        this.#targetLocationMarker.setLatLng(new LatLng(targetLocation.lat, targetLocation.lng));
+        this.#targetLocationPolyline.setLatLngs([new LatLng(this.getFlightData().latitude, this.getFlightData().longitude), new LatLng(targetLocation.lat, targetLocation.lng)])
+    } 
+
+    #clearTarget() {
+        if (getMap().hasLayer(this.#targetLocationMarker))
+            this.#targetLocationMarker.removeFrom(getMap());
+        
+        if (getMap().hasLayer(this.#targetLocationPolyline))
+            this.#targetLocationPolyline.removeFrom(getMap());
+    }
 }
 
 export class AirUnit extends Unit {
@@ -850,7 +949,7 @@ export class GroundUnit extends Unit {
             showVvi: false,
             showHotgroup: true,
             showUnitIcon: true,
-            showShortLabel: true,
+            showShortLabel: false,
             showFuel: false,
             showAmmo: false,
             showSummary: false,
diff --git a/scripts/OlympusCommand.lua b/scripts/OlympusCommand.lua
index bd61f8d2..34d74cb5 100644
--- a/scripts/OlympusCommand.lua
+++ b/scripts/OlympusCommand.lua
@@ -1,4 +1,4 @@
-local version = "v0.2.1-alpha"
+local version = "v0.3.0-alpha"
 
 local debug = true
 
@@ -98,13 +98,14 @@ function Olympus.buildEnrouteTask(options)
 end
 
 -- Builds a valid task depending on the provided options
-function Olympus.buildTask(options)
+function Olympus.buildTask(groupName, options)
 	local task = nil
 
+	local group = Group.getByName(groupName)
 	if (Olympus.isArray(options)) then
 		local tasks = {}
 		for idx, subOptions in pairs(options) do
-			tasks[idx] = Olympus.buildTask(subOptions) or Olympus.buildEnrouteTask(subOptions)
+			tasks[idx] = Olympus.buildTask(groupName, subOptions) or Olympus.buildEnrouteTask(subOptions)
 		end
 		task = { 
 			id = 'ComboTask', 
@@ -139,29 +140,92 @@ function Olympus.buildTask(options)
 					pattern = options['pattern'] or "Circle"
 				} 
 			}
+			if options['altitude'] then
+				if options ['altitudeType'] then
+					if options ['altitudeType'] == "AGL" then
+						local groundHeight = 0
+						if group then
+							local groupPos = mist.getLeadPos(group)
+							groundHeight = land.getHeight({x = groupPos.x, y = groupPos.z})
+						end
+						task['params']['altitude'] = groundHeight + options['altitude']
+					else
+						task['params']['altitude'] = options['altitude']
+					end
+				else
+					task['params']['altitude'] = options['altitude']
+				end
+			end
+			if options['speed'] then
+				task['params']['speed'] = options['speed']
+			end
+		elseif options['id'] == 'Bombing' and options['lat'] and options['lng'] then
+			local point = coord.LLtoLO(options['lat'], options['lng'], 0)
+			task = {
+				id = 'Bombing', 
+				params = {
+					point = {x = point.x, y = point.z},
+					attackQty = 1
+				}   
+			}
+		elseif options['id'] == 'CarpetBombing' and options['lat'] and options['lng'] then
+			local point = coord.LLtoLO(options['lat'], options['lng'], 0)
+			task = {
+				id = 'CarpetBombing', 
+				params = {
+					x = point.x,
+					y = point.z,
+					carpetLength = 1000,
+					attackType = 'Carpet',
+					expend = "All",
+					attackQty = 1,
+					attackQtyLimit = true 
+				}   
+			}
+		elseif options['id'] == 'AttackMapObject' and options['lat'] and options['lng'] then
+			local point = coord.LLtoLO(options['lat'], options['lng'], 0)
+			task = {
+				id = 'AttackMapObject', 
+				params = {
+					point = {x = point.x, y = point.z}
+				}   
+			}
+		elseif options['id'] == 'FireAtPoint' and options['lat'] and options['lng'] and options['radius'] then
+			local point = coord.LLtoLO(options['lat'], options['lng'], 0)
+			task = {
+				id = 'FireAtPoint', 
+				params = {
+					point = {x = point.x, y = point.z},
+					radius = options['radius']
+				}   
+			}
 		end
 	end
 	return task
 end
 
 -- Move a unit. Since many tasks in DCS are Enroute tasks, this function is an important way to control the unit AI
-function Olympus.move(ID, lat, lng, altitude, speed, category, taskOptions)
-    Olympus.debug("Olympus.move " .. ID .. " (" .. lat .. ", " .. lng ..") " .. altitude .. "m " .. speed .. "m/s " .. category, 2)
-    local unit = Olympus.getUnitByID(ID)
-	if unit then
+function Olympus.move(groupName, lat, lng, altitude, altitudeType, speed, speedType, category, taskOptions)
+    Olympus.debug("Olympus.move " .. groupName .. " (" .. lat .. ", " .. lng ..") " .. altitude .. "m " .. altitudeType .. " ".. speed .. "m/s " .. category .. " " .. Olympus.serializeTable(taskOptions), 2)
+    local group = Group.getByName(groupName)
+	if group then
 		if category == "Aircraft" then
-			local startPoint = mist.getLeadPos(unit:getGroup())
+			local startPoint = mist.getLeadPos(group)
 			local endPoint = coord.LLtoLO(lat, lng, 0) 
 
+			if altitudeType == "AGL" then
+				altitude = land.getHeight({x = endPoint.x, y = endPoint.z}) + altitude
+			end
+
 			local path = {}
 			if taskOptions and taskOptions['id'] == 'Land' then
 				path = {
-					[1] = mist.fixedWing.buildWP(startPoint, flyOverPoint, speed, altitude, 'BARO'),
+					[1] = mist.fixedWing.buildWP(startPoint, turningPoint, speed, altitude, 'BARO'),
 					[2] = mist.fixedWing.buildWP(endPoint, landing, speed, 0, 'AGL')
 				} 
 			else
 				path = {
-					[1] = mist.fixedWing.buildWP(startPoint, flyOverPoint, speed, altitude, 'BARO'),
+					[1] = mist.fixedWing.buildWP(startPoint, turningPoint, speed, altitude, 'BARO'),
 					[2] = mist.fixedWing.buildWP(endPoint, turningPoint, speed, altitude, 'BARO')
 				}
 			end
@@ -184,7 +248,6 @@ function Olympus.move(ID, lat, lng, altitude, speed, category, taskOptions)
 					},
 				},
 			}
-			group = unit:getGroup()
 			local groupCon = group:getController()
 			if groupCon then
 				groupCon:setTask(missionTask)
@@ -193,20 +256,26 @@ function Olympus.move(ID, lat, lng, altitude, speed, category, taskOptions)
 		elseif category == "GroundUnit" then
 			vars = 
 				{
-					group = unit:getGroup(), 
+					group = group, 
 					point = coord.LLtoLO(lat, lng, 0),
-					form = "Off Road",
 					heading = 0,
-					speed = speed,
-					disableRoads = true
+					speed = speed
 				}
+
+			if taskOptions and taskOptions['id'] == 'FollowRoads' and taskOptions['value'] == true then
+				vars["disableRoads"] = false
+			else
+				vars["form"] = "Off Road"
+				vars["disableRoads"] = true
+			end
+
 			mist.groupToRandomPoint(vars)
 			Olympus.debug("Olympus.move executed succesfully on a ground unit", 2)
 		else
 			Olympus.debug("Olympus.move not implemented yet for " .. category, 2)
 		end
 	else
-        Olympus.debug("Error in Olympus.move " .. ID, 2)
+        Olympus.debug("Error in Olympus.move " .. groupName, 2)
 	end
 end  
 
@@ -228,6 +297,12 @@ function Olympus.smoke(color, lat, lng)
     trigger.action.smoke(mist.utils.makeVec3GL(coord.LLtoLO(lat, lng, 0)), colorEnum)
 end  
 
+-- Creates an explosion on the ground
+function Olympus.explosion(intensity, lat, lng)
+    Olympus.debug("Olympus.explosion " .. intensity .. " (" .. lat .. ", " .. lng ..")", 2)
+	trigger.action.explosion(mist.utils.makeVec3GL(coord.LLtoLO(lat, lng, 0)), intensity)
+end  
+
 -- Spawns a single ground unit
 function Olympus.spawnGroundUnit(coalition, unitType, lat, lng)
     Olympus.debug("Olympus.spawnGroundUnit " .. coalition .. " " .. unitType .. " (" .. lat .. ", " .. lng ..")", 2)
@@ -279,12 +354,12 @@ end
 -- payloadName: a string, one of the names defined in unitPayloads.lua. Must be compatible with the unitType
 -- airbaseName: a string, if present the aircraft will spawn on the ground of the selected airbase
 -- payload: a table, if present the unit will receive this specific payload. Overrides payloadName
-function Olympus.spawnAircraft(coalition, unitType, lat, lng, spawnOptions)
+function Olympus.spawnAircraft(coalition, unitType, lat, lng, alt, spawnOptions)
 	local payloadName = spawnOptions["payloadName"]
 	local airbaseName = spawnOptions["airbaseName"]
 	local payload = spawnOptions["payload"]
 
-	Olympus.debug("Olympus.spawnAircraft " .. coalition .. " " .. unitType .. " (" .. lat .. ", " .. lng ..")", 2)
+	Olympus.debug("Olympus.spawnAircraft " .. coalition .. " " .. unitType .. " (" .. lat .. ", " .. lng ..", " .. alt .. ")", 2)
 	local spawnLocation = mist.utils.makeVec3GL(coord.LLtoLO(lat, lng, 0))
 
 	if payload == nil then
@@ -304,7 +379,7 @@ function Olympus.spawnAircraft(coalition, unitType, lat, lng, spawnOptions)
 			["type"] = unitType,
 			["x"] = spawnLocation.x,
 			["y"] = spawnLocation.z,
-			["alt"] = 20000 * 0.3048,
+			["alt"] = alt,
             ["alt_type"] = "BARO",
 			["skill"] = "Excellent",
 			["payload"] = 
@@ -359,8 +434,61 @@ function Olympus.spawnAircraft(coalition, unitType, lat, lng, spawnOptions)
 				}, 
 			} 			
 		end
+	else
+		route = {
+				["points"] = 
+				{
+					[1] = 
+					{
+						["alt"] = alt,
+						["alt_type"] = "BARO",
+						["task"] = 
+						{
+							["id"] = "ComboTask",
+							["params"] = 
+							{
+								["tasks"] = 
+								{
+									[1] = 
+									{
+										["number"] = 1,
+										["auto"] = true,
+										["id"] = "WrappedAction",
+										["enabled"] = true,
+										["params"] = 
+										{
+											["action"] = 
+											{
+												["id"] = "EPLRS",
+												["params"] = 
+												{
+													["value"] = true
+												}, 
+											}, 
+										}, 
+									},
+									[2] = 
+									{
+										["number"] = 2,
+										["auto"] = false,
+										["id"] = "Orbit",
+										["enabled"] = true,
+										["params"] = 
+										{
+											["pattern"] = "Circle"
+										}, 
+									},
+								}, 
+							}, 
+						}, 
+						["type"] = "Turning Point",
+						["x"] = spawnLocation.x,
+						["y"] = spawnLocation.z,
+					}, -- end of [1]
+				}, -- end of ["points"]
+			} -- end of ["route"]
 	end
-	
+
 	local vars = 
 	{
 		units = unitTable, 
@@ -390,7 +518,7 @@ function Olympus.clone(ID, lat, lng, category)
 			local spawnOptions = {
 				payload = Olympus.payloadRegistry[unit:getName()]
 			}
-			Olympus.spawnAircraft(coalition, unit:getTypeName(), lat, lng, spawnOptions)
+			Olympus.spawnAircraft(coalition, unit:getTypeName(), lat, lng, unit:getPoint().y, spawnOptions)
 		elseif category == "GroundUnit" then
 			Olympus.spawnGroundUnit(coalition, unit:getTypeName(), lat, lng)
 		end
@@ -398,11 +526,11 @@ function Olympus.clone(ID, lat, lng, category)
 	Olympus.debug("Olympus.clone completed successfully", 2)
 end
 
-function Olympus.delete(ID, lat, lng)
-	Olympus.debug("Olympus.delete " .. ID, 2)
+function Olympus.delete(ID, explosion)
+	Olympus.debug("Olympus.delete " .. ID .. " " .. tostring(explosion), 2)
 	local unit = Olympus.getUnitByID(ID)
 	if unit then
-		if unit:getPlayerName() then
+		if unit:getPlayerName() or explosion then
 			trigger.action.explosion(unit:getPoint() , 250 ) --consider replacing with forcibly deslotting the player, however this will work for now
 			Olympus.debug("Olympus.delete completed successfully", 2)
 		else
@@ -412,46 +540,55 @@ function Olympus.delete(ID, lat, lng)
 	end
 end
 
-function Olympus.setTask(ID, taskOptions)
-	Olympus.debug("Olympus.setTask " .. ID .. " " .. Olympus.serializeTable(taskOptions), 2)
-	local unit = Olympus.getUnitByID(ID)
-	if unit then
-		local task = Olympus.buildTask(taskOptions);
+function Olympus.setTask(groupName, taskOptions)
+	Olympus.debug("Olympus.setTask " .. groupName .. " " .. Olympus.serializeTable(taskOptions), 2)
+	local group = Group.getByName(groupName)
+	if group then
+		local task = Olympus.buildTask(groupName, taskOptions);
 		Olympus.debug("Olympus.setTask " .. Olympus.serializeTable(task), 20)
 		if task then
-			unit:getGroup():getController():setTask(task)
+			group:getController():setTask(task)
 			Olympus.debug("Olympus.setTask completed successfully", 2)
 		end
 	end
 end
 
-function Olympus.resetTask(ID)
-	Olympus.debug("Olympus.resetTask " .. ID, 2)
-	local unit = Olympus.getUnitByID(ID)
-	if unit then
-		unit:getGroup():getController():resetTask()
+function Olympus.resetTask(groupName)
+	Olympus.debug("Olympus.resetTask " .. groupName, 2)
+	local group = Group.getByName(groupName)
+	if group then
+		group:getController():resetTask()
 		Olympus.debug("Olympus.resetTask completed successfully", 2)
 	end
 end
 
-function Olympus.setCommand(ID, command)
-	Olympus.debug("Olympus.setCommand " .. ID .. " " .. Olympus.serializeTable(command), 2)
-	local unit = Olympus.getUnitByID(ID)
-	if unit then
-		unit:getGroup():getController():setCommand(command)
+function Olympus.setCommand(groupName, command)
+	Olympus.debug("Olympus.setCommand " .. groupName .. " " .. Olympus.serializeTable(command), 2)
+	local group = Group.getByName(groupName)
+	if group then
+		group:getController():setCommand(command)
 		Olympus.debug("Olympus.setCommand completed successfully", 2)
 	end
 end
 
-function Olympus.setOption(ID, optionID, optionValue)
-	Olympus.debug("Olympus.setOption " .. ID .. " " .. optionID .. " " .. tostring(optionValue), 2)
-	local unit = Olympus.getUnitByID(ID)
-	if unit then
-		unit:getGroup():getController():setOption(optionID, optionValue)
+function Olympus.setOption(groupName, optionID, optionValue)
+	Olympus.debug("Olympus.setOption " .. groupName .. " " .. optionID .. " " .. tostring(optionValue), 2)
+	local group = Group.getByName(groupName)
+	if group then
+		group:getController():setOption(optionID, optionValue)
 		Olympus.debug("Olympus.setOption completed successfully", 2)
 	end
 end
 
+function Olympus.setOnOff(groupName, onOff)
+	Olympus.debug("Olympus.setOnOff " .. groupName .. " " .. tostring(onOff), 2)
+	local group = Group.getByName(groupName)
+	if group then
+		group:getController():setOnOff(onOff)
+		Olympus.debug("Olympus.setOnOff completed successfully", 2)
+	end
+end
+
 function Olympus.serializeTable(val, name, skipnewlines, depth)
     skipnewlines = skipnewlines or false
     depth = depth or 0
@@ -547,7 +684,7 @@ function Olympus.setMissionData(arg, time)
 						for index, unit in pairs(group:getUnits()) do
 							local unitController = unit:getController()
 							local table = {}
-							table["targets"] = {}
+							table["contacts"] = {}
 
 							for i, target in ipairs(controllerTargets) do
 								for det, enum in pairs(Controller.Detection) do
@@ -556,7 +693,7 @@ function Olympus.setMissionData(arg, time)
 
 										if detected then
 											target["detectionMethod"] = det
-											table["targets"][#table["targets"] + 1] = target
+											table["contacts"][#table["contacts"] + 1] = target
 										end
 									end
 								end
diff --git a/src/core/include/unit.h b/src/core/include/unit.h
index 2d6d6bcf..817beb29 100644
--- a/src/core/include/unit.h
+++ b/src/core/include/unit.h
@@ -6,6 +6,8 @@
 #include "measure.h"
 #include "logger.h"
 
+#define TASK_CHECK_INIT_VALUE 10
+
 namespace State
 {
 	enum States
@@ -18,7 +20,11 @@ namespace State
 		LAND,
 		REFUEL,
 		AWACS,
-		TANKER
+		TANKER,
+		BOMB_POINT,
+		CARPET_BOMB,
+		BOMB_BUILDING,
+		FIRE_AT_AREA
 	};
 };
 
@@ -56,21 +62,24 @@ public:
 
 	/********** Public methods **********/
 	void initialize(json::value json);
+	void setDefaults(bool force = false);
 	int getID() { return ID; }
+	void runAILoop();
 	void updateExportData(json::value json);
 	void updateMissionData(json::value json);
-	json::value getData(long long time);
+	json::value getData(long long time, bool getAll = false);
 	virtual wstring getCategory() { return L"No category"; };
 
 	/********** Base data **********/
-	void setAI(bool newAI) { AI = newAI; addMeasure(L"AI", json::value(newAI)); }
+	void setControlled(bool newControlled) { controlled = newControlled; addMeasure(L"controlled", json::value(newControlled)); }
 	void setName(wstring newName) { name = newName; addMeasure(L"name", json::value(newName));}
 	void setUnitName(wstring newUnitName) { unitName = newUnitName; addMeasure(L"unitName", json::value(newUnitName));}
 	void setGroupName(wstring newGroupName) { groupName = newGroupName; addMeasure(L"groupName", json::value(newGroupName));}
 	void setAlive(bool newAlive) { alive = newAlive; addMeasure(L"alive", json::value(newAlive));}
 	void setType(json::value newType) { type = newType; addMeasure(L"type", newType);}
 	void setCountry(int newCountry) { country = newCountry; addMeasure(L"country", json::value(newCountry));}
-	bool getAI() { return AI; }
+
+	bool getControlled() { return controlled; }
 	wstring getName() { return name; }
 	wstring getUnitName() { return unitName; }
 	wstring getGroupName() { return groupName; }
@@ -84,6 +93,7 @@ public:
 	void setAltitude(double newAltitude) {altitude = newAltitude; addMeasure(L"altitude", json::value(newAltitude));}
 	void setHeading(double newHeading) {heading = newHeading; addMeasure(L"heading", json::value(newHeading));}
 	void setSpeed(double newSpeed) {speed = newSpeed; addMeasure(L"speed", json::value(newSpeed));}
+
 	double getLatitude() { return latitude; }
 	double getLongitude() { return longitude; }
 	double getAltitude() { return altitude; }
@@ -93,13 +103,14 @@ public:
 	/********** Mission data **********/
 	void setFuel(double newFuel) { fuel = newFuel; addMeasure(L"fuel", json::value(newFuel));}
 	void setAmmo(json::value newAmmo) { ammo = newAmmo; addMeasure(L"ammo", json::value(newAmmo));}
-	void setTargets(json::value newTargets) {targets = newTargets; addMeasure(L"targets", json::value(newTargets));}
-	void setHasTask(bool newHasTask) { hasTask = newHasTask; addMeasure(L"hasTask", json::value(newHasTask)); }
+	void setContacts(json::value newContacts) {contacts = newContacts; addMeasure(L"contacts", json::value(newContacts));}
+	void setHasTask(bool newHasTask);
 	void setCoalitionID(int newCoalitionID);
 	void setFlags(json::value newFlags) { flags = newFlags; addMeasure(L"flags", json::value(newFlags));}
+
 	double getFuel() { return fuel; }
 	json::value getAmmo() { return ammo; }
-	json::value getTargets() { return targets; }
+	json::value getTargets() { return contacts; }
 	bool getHasTask() { return hasTask; }
 	wstring getCoalition() { return coalition; }
 	int getCoalitionID();
@@ -108,40 +119,48 @@ public:
 	/********** Formation data **********/
 	void setLeaderID(int newLeaderID) { leaderID = newLeaderID; addMeasure(L"leaderID", json::value(newLeaderID)); }
 	void setFormationOffset(Offset formationOffset);
+
 	int getLeaderID() { return leaderID; }
 	Offset getFormationoffset() { return formationOffset; }
 	
 	/********** Task data **********/
-	void setCurrentTask(wstring newCurrentTask) { currentTask = newCurrentTask;addMeasure(L"currentTask", json::value(newCurrentTask)); } 
-	virtual void setTargetSpeed(double newTargetSpeed) { targetSpeed = newTargetSpeed; addMeasure(L"targetSpeed", json::value(newTargetSpeed));}
-	virtual void setTargetAltitude(double newTargetAltitude) { targetAltitude = newTargetAltitude; addMeasure(L"targetAltitude", json::value(newTargetAltitude));} //TODO fix, double definition
+	void setCurrentTask(wstring newCurrentTask) { currentTask = newCurrentTask; addMeasure(L"currentTask", json::value(newCurrentTask)); } 
+	void setDesiredSpeed(double newDesiredSpeed);
+	void setDesiredAltitude(double newDesiredAltitude);
+	void setDesiredSpeedType(wstring newDesiredSpeedType);
+	void setDesiredAltitudeType(wstring newDesiredAltitudeType);
 	void setActiveDestination(Coords newActiveDestination) { activeDestination = newActiveDestination; addMeasure(L"activeDestination", json::value("")); } // TODO fix
 	void setActivePath(list<Coords> newActivePath);
-	void clearActivePath();
-	void pushActivePathFront(Coords newActivePathFront);
-	void pushActivePathBack(Coords newActivePathBack);
-	void popActivePathFront();
 	void setTargetID(int newTargetID) { targetID = newTargetID; addMeasure(L"targetID", json::value(newTargetID));}
+	void setTargetLocation(Coords newTargetLocation);
 	void setIsTanker(bool newIsTanker);
 	void setIsAWACS(bool newIsAWACS);
+	virtual void setOnOff(bool newOnOff) { onOff = newOnOff; addMeasure(L"onOff", json::value(newOnOff));};
+	virtual void setFollowRoads(bool newFollowRoads) { followRoads = newFollowRoads; addMeasure(L"followRoads", json::value(newFollowRoads)); };
 	
 	wstring getCurrentTask() { return currentTask; }
-	virtual double getTargetSpeed() { return targetSpeed; };
-	virtual double getTargetAltitude() { return targetAltitude; };
+	virtual double getDesiredSpeed() { return desiredSpeed; };
+	virtual double getDesiredAltitude() { return desiredAltitude; };
+	virtual wstring getDesiredSpeedType() { return desiredSpeedType; };
+	virtual wstring getDesiredAltitudeType() { return desiredAltitudeType; };
 	Coords getActiveDestination() { return activeDestination; }
 	list<Coords> getActivePath() { return activePath; }
 	int getTargetID() { return targetID; }
+	Coords getTargetLocation() { return targetLocation; }
 	bool getIsTanker() { return isTanker; }
 	bool getIsAWACS() { return isAWACS; }
+	bool getOnOff() { return onOff; };
+	bool getFollowRoads() { return followRoads; };
 
 	/********** Options data **********/
-	void setROE(wstring newROE);
-	void setReactionToThreat(wstring newReactionToThreat);
-	void setEmissionsCountermeasures(wstring newEmissionsCountermeasures);
-	void setTACAN(Options::TACAN newTACAN);
-	void setRadio(Options::Radio newradio);
-	void setGeneralSettings(Options::GeneralSettings newGeneralSettings);
-	void setEPLRS(bool newEPLRS);
+	void setROE(wstring newROE, bool force = false);
+	void setReactionToThreat(wstring newReactionToThreat, bool force = false);
+	void setEmissionsCountermeasures(wstring newEmissionsCountermeasures, bool force = false);
+	void setTACAN(Options::TACAN newTACAN, bool force = false);
+	void setRadio(Options::Radio newradio, bool force = false);
+	void setGeneralSettings(Options::GeneralSettings newGeneralSettings, bool force = false);
+	void setEPLRS(bool newEPLRS, bool force = false);
+
 	wstring getROE() { return ROE; }
 	wstring getReactionToThreat() { return reactionToThreat; }
 	wstring getEmissionsCountermeasures() { return emissionsCountermeasures; };
@@ -152,19 +171,24 @@ public:
 
 	/********** Control functions **********/
 	void landAt(Coords loc);
-	virtual void changeSpeed(wstring change){};
-	virtual void changeAltitude(wstring change){};
+	virtual void changeSpeed(wstring change) {};
+	virtual void changeAltitude(wstring change) {};
 	void resetActiveDestination();
 	virtual void setState(int newState) { state = newState; };
 	void resetTask();
+	void clearActivePath();
+	void pushActivePathFront(Coords newActivePathFront);
+	void pushActivePathBack(Coords newActivePathBack);
+	void popActivePathFront();
 
 protected:
 	int ID;
 
 	map<wstring, Measure*> measures;
+	int taskCheckCounter = 0;
 
 	/********** Base data **********/
-	bool AI = false;
+	bool controlled = false;
 	wstring name = L"undefined";
 	wstring unitName = L"undefined";
 	wstring groupName = L"undefined";
@@ -183,7 +207,7 @@ protected:
 	double fuel = 0;
 	double initialFuel = 0; // Used internally to detect refueling completed
 	json::value ammo = json::value::null();
-	json::value targets = json::value::null();
+	json::value contacts = json::value::null();
 	bool hasTask = false;
 	wstring coalition = L"";
 	json::value flags = json::value::null();
@@ -194,13 +218,18 @@ protected:
 
 	/********** Task data **********/
 	wstring currentTask = L"";
-	double targetSpeed = 0;
-	double targetAltitude = 0;
+	double desiredSpeed = 0;
+	double desiredAltitude = 0;
+	wstring desiredSpeedType = L"GS";
+	wstring desiredAltitudeType = L"AGL";
 	list<Coords> activePath;
-	Coords activeDestination = Coords(0);
+	Coords activeDestination = Coords(NULL);
 	int targetID = NULL;
+	Coords targetLocation = Coords(NULL);
 	bool isTanker = false;
 	bool isAWACS = false;
+	bool onOff = true;
+	bool followRoads = false;
 	
 	/********** Options data **********/
 	wstring ROE = L"Designated";
@@ -224,4 +253,10 @@ protected:
 	bool isLeaderAlive();
 	virtual void AIloop() = 0;
 	void addMeasure(wstring key, json::value value);
+	bool isDestinationReached(double threshold);
+	bool setActiveDestination();
+	bool updateActivePath(bool looping);
+	void goToDestination(wstring enrouteTask = L"nil");
+	bool checkTaskFailed();
+	void resetTaskFailedCounter();
 };
diff --git a/src/core/include/unitsmanager.h b/src/core/include/unitsmanager.h
index a851a388..871c9e74 100644
--- a/src/core/include/unitsmanager.h
+++ b/src/core/include/unitsmanager.h
@@ -11,10 +11,17 @@ public:
 	~UnitsManager();
 
 	Unit* getUnit(int ID);
+	bool isUnitInGroup(Unit* unit);
+	bool isUnitGroupLeader(Unit* unit);
+	Unit* getGroupLeader(int ID);
+	Unit* getGroupLeader(Unit* unit);
+	vector<Unit*> getGroupMembers(wstring groupName);
 	void updateExportData(lua_State* L);
 	void updateMissionData(json::value missionData);
+	void runAILoop();
 	void getData(json::value& answer, long long time);
-	void deleteUnit(int ID);
+	void deleteUnit(int ID, bool explosion);
+	void acquireControl(int ID);
 	
 private:
 	map<int, Unit*> units;
diff --git a/src/core/src/aircraft.cpp b/src/core/src/aircraft.cpp
index 79f2694d..14c8c005 100644
--- a/src/core/src/aircraft.cpp
+++ b/src/core/src/aircraft.cpp
@@ -17,59 +17,52 @@ Aircraft::Aircraft(json::value json, int ID) : AirUnit(json, ID)
 {
 	log("New Aircraft created with ID: " + to_string(ID));
 	addMeasure(L"category", json::value(getCategory()));
-	setTargetSpeed(targetSpeed);
-	setTargetAltitude(targetAltitude);
+
+	double desiredSpeed = knotsToMs(300);
+	double desiredAltitude = ftToM(20000);
+	setDesiredSpeed(desiredSpeed);
+	setDesiredAltitude(desiredAltitude);
 };
 
 void Aircraft::changeSpeed(wstring change)
 {
 	if (change.compare(L"stop") == 0)
-	{
 		setState(State::IDLE);
-	}
 	else if (change.compare(L"slow") == 0)
-		setTargetSpeed(getTargetSpeed() - 25 / 1.94384);
+		setDesiredSpeed(getDesiredSpeed() - knotsToMs(25));
 	else if (change.compare(L"fast") == 0)
-		setTargetSpeed(getTargetSpeed() + 25 / 1.94384);
+		setDesiredSpeed(getDesiredSpeed() + knotsToMs(25));
 
-	if (getTargetSpeed() < 50 / 1.94384)
-		setTargetSpeed(50 / 1.94384);
+	if (getDesiredSpeed() < knotsToMs(50))
+		setDesiredSpeed(knotsToMs(50));
 
-	goToDestination();		/* Send the command to reach the destination */
+	if (state == State::IDLE)
+		resetTask();
+	else
+		goToDestination();		/* Send the command to reach the destination */
 }
 
 void Aircraft::changeAltitude(wstring change)
 {
 	if (change.compare(L"descend") == 0)
 	{
-		if (getTargetAltitude() > 5000)
-			setTargetAltitude(getTargetAltitude() - 2500 / 3.28084);
-		else if (getTargetAltitude() > 0)
-			setTargetAltitude(getTargetAltitude() - 500 / 3.28084);
+		if (getDesiredAltitude() > 5000)
+			setDesiredAltitude(getDesiredAltitude() - ftToM(2500));
+		else if (getDesiredAltitude() > 0)
+			setDesiredAltitude(getDesiredAltitude() - ftToM(500));
 	}
 	else if (change.compare(L"climb") == 0)
 	{
-		if (getTargetAltitude() > 5000)
-			setTargetAltitude(getTargetAltitude() + 2500 / 3.28084);
-		else if (getTargetAltitude() >= 0)
-				setTargetAltitude(getTargetAltitude() + 500 / 3.28084);
+		if (getDesiredAltitude() > 5000)
+			setDesiredAltitude(getDesiredAltitude() + ftToM(2500));
+		else if (getDesiredAltitude() >= 0)
+				setDesiredAltitude(getDesiredAltitude() + ftToM(500));
 	}
-	if (getTargetAltitude() < 0)
-		setTargetAltitude(0);
+	if (getDesiredAltitude() < 0)
+		setDesiredAltitude(0);
 
-	goToDestination();		/* Send the command to reach the destination */
-}
-
-void Aircraft::setTargetSpeed(double newTargetSpeed) {
-	targetSpeed = newTargetSpeed;
-	addMeasure(L"targetSpeed", json::value(targetSpeed));
-	if (activeDestination != NULL)
-		goToDestination();
-}
-
-void Aircraft::setTargetAltitude(double newTargetAltitude) {
-	targetAltitude = newTargetAltitude;
-	addMeasure(L"targetAltitude", json::value(targetAltitude));
-	if (activeDestination != NULL)
-		goToDestination();
+	if (state == State::IDLE)
+		resetTask();
+	else 
+		goToDestination();		/* Send the command to reach the destination */
 }
\ No newline at end of file
diff --git a/src/core/src/airunit.cpp b/src/core/src/airunit.cpp
index 78d87cdf..06c0808a 100644
--- a/src/core/src/airunit.cpp
+++ b/src/core/src/airunit.cpp
@@ -20,7 +20,7 @@ AirUnit::AirUnit(json::value json, int ID) : Unit(json, ID)
 
 void AirUnit::setState(int newState) 
 {
-	/************ Perform any action required when LEAVING a certain state ************/
+	/************ Perform any action required when LEAVING a state ************/
 	if (newState != state) {
 		switch (state) {
 		case State::IDLE: {
@@ -43,12 +43,18 @@ void AirUnit::setState(int newState)
 		case State::REFUEL: {
 			break;
 		}
+		case State::BOMB_POINT:
+		case State::CARPET_BOMB: 
+		case State::BOMB_BUILDING: {
+			setTargetLocation(Coords(NULL));
+			break;
+		}
 		default:
 			break;
 		}
 	}
 
-	/************ Perform any action required when ENTERING a certain state ************/
+	/************ Perform any action required when ENTERING a state ************/
 	switch (newState) {
 	case State::IDLE: {
 		clearActivePath();
@@ -90,6 +96,24 @@ void AirUnit::setState(int newState)
 		addMeasure(L"currentState", json::value(L"Refuel"));
 		break;
 	}
+	case State::BOMB_POINT: {
+		addMeasure(L"currentState", json::value(L"Bombing point"));
+		clearActivePath();
+		resetActiveDestination();
+		break;
+	}
+	case State::CARPET_BOMB: {
+		addMeasure(L"currentState", json::value(L"Carpet bombing"));
+		clearActivePath();
+		resetActiveDestination();
+		break;
+	}
+	case State::BOMB_BUILDING: {
+		addMeasure(L"currentState", json::value(L"Bombing building"));
+		clearActivePath();
+		resetActiveDestination();
+		break;
+	}
 	default:
 		break;
 	}
@@ -100,69 +124,6 @@ void AirUnit::setState(int newState)
 	state = newState;
 }
 
-bool AirUnit::isDestinationReached()
-{
-	if (activeDestination != NULL)
-	{
-		double dist = 0;
-		Geodesic::WGS84().Inverse(latitude, longitude, activeDestination.lat, activeDestination.lng, dist);
-		if (dist < AIR_DEST_DIST_THR)
-		{
-			log(unitName + L" destination reached");
-			return true;
-		}
-		else {
-			return false;
-		}
-	}
-	else
-		return true;
-}
-
-bool AirUnit::setActiveDestination()
-{
-	if (activePath.size() > 0)
-	{
-		activeDestination = activePath.front();
-		log(unitName + L" active destination set to queue front");
-		return true;
-	}
-	else
-	{
-		activeDestination = Coords(0);
-		log(unitName + L" active destination set to NULL");
-		return false;
-	}
-}
-
-bool AirUnit::updateActivePath(bool looping)
-{
-	if (activePath.size() > 0)
-	{
-		/* Push the next destination in the queue to the front */
-		if (looping)
-			pushActivePathBack(activePath.front());
-		popActivePathFront();
-		log(unitName + L" active path front popped");
-		return true;
-	}
-	else {
-		return false;
-	}
-}
-
-void AirUnit::goToDestination(wstring enrouteTask)
-{
-	if (activeDestination != NULL)
-	{
-		Command* command = dynamic_cast<Command*>(new Move(ID, activeDestination, getTargetSpeed(), getTargetAltitude(), enrouteTask));
-		scheduler->appendCommand(command);
-		setHasTask(true);
-	}
-	else
-		log(unitName + L" error, no active destination!");
-}
-
 void AirUnit::AIloop()
 {
 	/* State machine */
@@ -170,19 +131,19 @@ void AirUnit::AIloop()
 		case State::IDLE: {
 			currentTask = L"Idle";
 			
-			if (!hasTask)
+			if (!getHasTask())
 			{
 				std::wostringstream taskSS;
 				if (isTanker) {
-					taskSS << "{ [1] = { id = 'Tanker' }, [2] = { id = 'Orbit', pattern = 'Race-Track' } }";
+					taskSS << "{ [1] = { id = 'Tanker' }, [2] = { id = 'Orbit', pattern = 'Race-Track', altitude = " << desiredAltitude << ", speed = " << desiredSpeed << ", altitudeType = '" << desiredAltitudeType << "' } }";
 				}
 				else if (isAWACS) {
-					taskSS << "{ [1] = { id = 'AWACS' }, [2] = { id = 'Orbit', pattern = 'Circle' } }";
+					taskSS << "{ [1] = { id = 'AWACS' }, [2] = { id = 'Orbit', pattern = 'Circle', altitude = " << desiredAltitude << ", speed = " << desiredSpeed << ", altitudeType = '" << desiredAltitudeType << "' } }";
 				}
 				else {
-					taskSS << "{ id = 'Orbit', pattern = 'Circle' }";
+					taskSS << "{ id = 'Orbit', pattern = 'Circle', altitude = " << desiredAltitude << ", speed = " << desiredSpeed << ", altitudeType = '" << desiredAltitudeType << "' }";
 				}
-				Command* command = dynamic_cast<Command*>(new SetTask(ID, taskSS.str()));
+				Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str()));
 				scheduler->appendCommand(command);
 				setHasTask(true);
 			}
@@ -208,7 +169,7 @@ void AirUnit::AIloop()
 				currentTask = L"Reaching destination";
 			}
 			
-			if (activeDestination == NULL || !hasTask)
+			if (activeDestination == NULL || !getHasTask())
 			{
 				if (!setActiveDestination())
 					setState(State::IDLE);
@@ -216,7 +177,7 @@ void AirUnit::AIloop()
 					goToDestination(enrouteTask);
 			}
 			else {
-				if (isDestinationReached()) {
+				if (isDestinationReached(AIR_DEST_DIST_THR)) {
 					if (updateActivePath(looping) && setActiveDestination())
 						goToDestination(enrouteTask);
 					else 
@@ -253,7 +214,7 @@ void AirUnit::AIloop()
 			wstring enrouteTask = enrouteTaskSS.str();
 			currentTask = L"Attacking " + getTargetName();
 			
-			if (!hasTask)
+			if (!getHasTask())
 			{
 				setActiveDestination();
 				goToDestination(enrouteTask);
@@ -274,7 +235,7 @@ void AirUnit::AIloop()
 			currentTask = L"Following " + getTargetName();
 
 			Unit* leader = unitsManager->getUnit(leaderID);
-			if (!hasTask) {
+			if (!getHasTask()) {
 				if (leader != nullptr && leader->getAlive() && formationOffset != NULL)
 				{
 					std::wostringstream taskSS;
@@ -287,7 +248,7 @@ void AirUnit::AIloop()
 						<< "z = " << formationOffset.z 
 						<< "},"
 						<< "}";
-					Command* command = dynamic_cast<Command*>(new SetTask(ID, taskSS.str()));
+					Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str()));
 					scheduler->appendCommand(command);
 					setHasTask(true);
 				}
@@ -297,13 +258,13 @@ void AirUnit::AIloop()
 		case State::REFUEL: {
 			currentTask = L"Refueling";
 
-			if (!hasTask) {
+			if (!getHasTask()) {
 				if (fuel <= initialFuel) {
 					std::wostringstream taskSS;
 					taskSS << "{"
 						<< "id = 'Refuel'"
 						<< "}";
-					Command* command = dynamic_cast<Command*>(new SetTask(ID, taskSS.str()));
+					Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str()));
 					scheduler->appendCommand(command);
 					setHasTask(true);
 				}
@@ -312,9 +273,44 @@ void AirUnit::AIloop()
 				}
 			}
 		}
+		case State::BOMB_POINT: {
+			currentTask = L"Bombing point";
+
+			if (!getHasTask()) {
+				std::wostringstream taskSS;
+				taskSS << "{id = 'Bombing', lat = " << targetLocation.lat << ", lng = " << targetLocation.lng << "}";
+				Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str()));
+				scheduler->appendCommand(command);
+				setHasTask(true);
+			}
+		}
+		case State::CARPET_BOMB: {
+			currentTask = L"Carpet bombing";
+
+			if (!getHasTask()) {
+				std::wostringstream taskSS;
+				taskSS << "{id = 'CarpetBombing', lat = " << targetLocation.lat << ", lng = " << targetLocation.lng << "}";
+				Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str()));
+				scheduler->appendCommand(command);
+				setHasTask(true);
+			}
+			break;
+		}
+		case State::BOMB_BUILDING: {
+			currentTask = L"Bombing building";
+
+			if (!getHasTask()) {
+				std::wostringstream taskSS;
+				taskSS << "{id = 'AttackMapObject', lat = " << targetLocation.lat << ", lng = " << targetLocation.lng << "}";
+				Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str()));
+				scheduler->appendCommand(command);
+				setHasTask(true);
+			}
+			break;
+		}
 		default:
 			break;
 	}
 
 	addMeasure(L"currentTask", json::value(currentTask));
-}
+}
\ No newline at end of file
diff --git a/src/core/src/core.cpp b/src/core/src/core.cpp
index 5eef82e2..38e490f2 100644
--- a/src/core/src/core.cpp
+++ b/src/core/src/core.cpp
@@ -69,6 +69,7 @@ extern "C" DllExport int coreFrame(lua_State* L)
         if (unitsManager != nullptr)
         {
             unitsManager->updateExportData(L);
+            unitsManager->runAILoop();
         }
         before = std::chrono::system_clock::now();
     }
diff --git a/src/core/src/groundunit.cpp b/src/core/src/groundunit.cpp
index 545aefc5..58b8fd50 100644
--- a/src/core/src/groundunit.cpp
+++ b/src/core/src/groundunit.cpp
@@ -17,58 +17,134 @@ GroundUnit::GroundUnit(json::value json, int ID) : Unit(json, ID)
 {
 	log("New Ground Unit created with ID: " + to_string(ID));
 	addMeasure(L"category", json::value(getCategory()));
-	setTargetSpeed(targetSpeed);
-	setTargetAltitude(targetAltitude);
+
+	double desiredSpeed = 10;
+	setDesiredSpeed(desiredSpeed);
 };
 
+void GroundUnit::setState(int newState)
+{
+	/************ Perform any action required when LEAVING a state ************/
+	if (newState != state) {
+		switch (state) {
+		case State::IDLE: {
+			break;
+		}
+		case State::REACH_DESTINATION: {
+			break;
+		}
+		case State::FIRE_AT_AREA: {
+			setTargetLocation(Coords(NULL));
+			break;
+		}
+		default:
+			break;
+		}
+	}
+
+	/************ Perform any action required when ENTERING a state ************/
+	switch (newState) {
+	case State::IDLE: {
+		clearActivePath();
+		resetActiveDestination();
+		addMeasure(L"currentState", json::value(L"Idle"));
+		break;
+	}
+	case State::REACH_DESTINATION: {
+		resetActiveDestination();
+		addMeasure(L"currentState", json::value(L"Reach destination"));
+		break;
+	}
+	case State::FIRE_AT_AREA: {
+		addMeasure(L"currentState", json::value(L"Firing at area"));
+		clearActivePath();
+		resetActiveDestination();
+		break;
+	}
+	default:
+		break;
+	}
+
+	resetTask();
+
+	log(unitName + L" setting state from " + to_wstring(state) + L" to " + to_wstring(newState));
+	state = newState;
+}
+
 void GroundUnit::AIloop()
 {
-	/* Set the active destination to be always equal to the first point of the active path. This is in common with all AI units */
-	if (activePath.size() > 0)
-	{
-		if (activeDestination != activePath.front())
+	switch (state) {
+	case State::IDLE: {
+		currentTask = L"Idle";
+		if (getHasTask())
+			resetTask();
+		break;
+	}
+	case State::REACH_DESTINATION: {
+		wstring enrouteTask = L"";
+		bool looping = false;
+
+		std::wostringstream taskSS;
+		taskSS << "{ id = 'FollowRoads', value = " << (getFollowRoads() ? "true" : "false") << " }";
+		enrouteTask = taskSS.str();
+
+		if (activeDestination == NULL || !getHasTask())
 		{
-			activeDestination = activePath.front();
-			Command* command = dynamic_cast<Command*>(new Move(ID, activeDestination, getTargetSpeed(), getTargetAltitude(), L"nil"));
+			if (!setActiveDestination())
+				setState(State::IDLE);
+			else
+				goToDestination(enrouteTask);
+		}
+		else {
+			if (isDestinationReached(GROUND_DEST_DIST_THR)) {
+				if (updateActivePath(looping) && setActiveDestination())
+					goToDestination(enrouteTask);
+				else
+					setState(State::IDLE);
+			}
+		}
+		break;
+	}
+	case State::FIRE_AT_AREA: {
+		currentTask = L"Firing at area";
+
+		if (!getHasTask()) {
+			std::wostringstream taskSS;
+			taskSS << "{id = 'FireAtPoint', lat = " << targetLocation.lat << ", lng = " << targetLocation.lng << ", radius = 1000}";
+			Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str()));
 			scheduler->appendCommand(command);
+			setHasTask(true);
 		}
 	}
-	else
-	{
-		if (activeDestination != NULL)
-		{
-			log(unitName + L" no more points in active path");
-			activeDestination = Coords(0); // Set the active path to NULL
-			currentTask = L"Idle";
-		}
+	default:
+		break;
 	}
 
-	/* Ground unit AI Loop */
-	if (activeDestination != NULL)
-	{
-		double newDist = 0;
-		Geodesic::WGS84().Inverse(latitude, longitude, activeDestination.lat, activeDestination.lng, newDist);
-		if (newDist < GROUND_DEST_DIST_THR)
-		{
-			/* Destination reached */
-			popActivePathFront();
-			log(unitName + L" destination reached");
-		}
-	}
+	addMeasure(L"currentTask", json::value(currentTask));
 }
 
 void GroundUnit::changeSpeed(wstring change)
 {
 	if (change.compare(L"stop") == 0)
-	{
-
-	}
+		setState(State::IDLE);
 	else if (change.compare(L"slow") == 0)
-	{
-
-	}
+		setDesiredSpeed(getDesiredSpeed() - knotsToMs(5));
 	else if (change.compare(L"fast") == 0)
-	{
+		setDesiredSpeed(getDesiredSpeed() + knotsToMs(5));
 
-	}
+	if (getDesiredSpeed() < 0)
+		setDesiredSpeed(0);
+}
+
+void GroundUnit::setOnOff(bool newOnOff) 
+{
+	Unit::setOnOff(newOnOff);
+	Command* command = dynamic_cast<Command*>(new SetOnOff(groupName, onOff));
+	scheduler->appendCommand(command);
+}
+
+void GroundUnit::setFollowRoads(bool newFollowRoads) 
+{
+	Unit::setFollowRoads(newFollowRoads);
+	resetActiveDestination(); /* Reset active destination to apply option*/
 }
\ No newline at end of file
diff --git a/src/core/src/helicopter.cpp b/src/core/src/helicopter.cpp
index 7d2d1e20..d728f4c5 100644
--- a/src/core/src/helicopter.cpp
+++ b/src/core/src/helicopter.cpp
@@ -17,8 +17,11 @@ Helicopter::Helicopter(json::value json, int ID) : AirUnit(json, ID)
 {
 	log("New Helicopter created with ID: " + to_string(ID));
 	addMeasure(L"category", json::value(getCategory()));
-	setTargetSpeed(targetSpeed);
-	setTargetAltitude(targetAltitude);
+
+	double desiredSpeed = knotsToMs(100);
+	double desiredAltitude = ftToM(5000);
+	setDesiredSpeed(desiredSpeed);
+	setDesiredAltitude(desiredAltitude);
 };
 
 void Helicopter::changeSpeed(wstring change)
@@ -29,11 +32,11 @@ void Helicopter::changeSpeed(wstring change)
 		clearActivePath();
 	}
 	else if (change.compare(L"slow") == 0)
-		targetSpeed -= 10 / 1.94384;
+		desiredSpeed -= knotsToMs(10);
 	else if (change.compare(L"fast") == 0)
-		targetSpeed += 10 / 1.94384;
-	if (targetSpeed < 0)
-		targetSpeed = 0;
+		desiredSpeed += knotsToMs(10);
+	if (desiredSpeed < 0)
+		desiredSpeed = 0;
 
 	goToDestination();		/* Send the command to reach the destination */
 }
@@ -42,33 +45,20 @@ void Helicopter::changeAltitude(wstring change)
 {
 	if (change.compare(L"descend") == 0)
 	{
-		if (targetAltitude > 100)
-			targetAltitude -= 100 / 3.28084;
-		else if (targetAltitude > 0)
-			targetAltitude -= 10 / 3.28084;
+		if (desiredAltitude > 100)
+			desiredAltitude -= ftToM(100);
+		else if (desiredAltitude > 0)
+			desiredAltitude -= ftToM(10);
 	}
 	else if (change.compare(L"climb") == 0)
 	{
-		if (targetAltitude > 100)
-			targetAltitude += 100 / 3.28084;
-		else if (targetAltitude >= 0)
-			targetAltitude += 10 / 3.28084;
+		if (desiredAltitude > 100)
+			desiredAltitude += ftToM(100);
+		else if (desiredAltitude >= 0)
+			desiredAltitude += ftToM(10);
 	}
-	if (targetAltitude < 0)
-		targetAltitude = 0;
+	if (desiredAltitude < 0)
+		desiredAltitude = 0;
 
 	goToDestination();		/* Send the command to reach the destination */
 }
-
-
-void Helicopter::setTargetSpeed(double newTargetSpeed) {
-	targetSpeed = newTargetSpeed;
-	addMeasure(L"targetSpeed", json::value(targetSpeed));
-	goToDestination();
-}
-
-void Helicopter::setTargetAltitude(double newTargetAltitude) {
-	targetAltitude = newTargetAltitude;
-	addMeasure(L"targetAltitude", json::value(targetAltitude));
-	goToDestination();
-}
\ No newline at end of file
diff --git a/src/core/src/navyunit.cpp b/src/core/src/navyunit.cpp
index 25f835a6..dc96f7a1 100644
--- a/src/core/src/navyunit.cpp
+++ b/src/core/src/navyunit.cpp
@@ -17,8 +17,9 @@ NavyUnit::NavyUnit(json::value json, int ID) : Unit(json, ID)
 {
 	log("New Navy Unit created with ID: " + to_string(ID));
 	addMeasure(L"category", json::value(getCategory()));
-	setTargetSpeed(targetSpeed);
-	setTargetAltitude(targetAltitude);
+
+	double desiredSpeed = 10;
+	setDesiredSpeed(desiredSpeed);
 };
 
 void NavyUnit::AIloop()
diff --git a/src/core/src/scheduler.cpp b/src/core/src/scheduler.cpp
index ad46db11..e7a7de4e 100644
--- a/src/core/src/scheduler.cpp
+++ b/src/core/src/scheduler.cpp
@@ -59,7 +59,8 @@ void Scheduler::handleRequest(wstring key, json::value value)
 	if (key.compare(L"setPath") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		if (unit != nullptr)
 		{
 			wstring unitName = unit->getUnitName();
@@ -75,15 +76,9 @@ void Scheduler::handleRequest(wstring key, json::value value)
 				newPath.push_back(dest);
 			}
 
-			Unit* unit = unitsManager->getUnit(ID);
-			if (unit != nullptr)
-			{
-				unit->setActivePath(newPath);
-				unit->setState(State::REACH_DESTINATION);
-				log(unitName + L" new path set successfully");
-			}
-			else
-				log(unitName + L" not found, request will be discarded");
+			unit->setActivePath(newPath);
+			unit->setState(State::REACH_DESTINATION);
+			log(unitName + L" new path set successfully");
 		}
 	}
 	else if (key.compare(L"smoke") == 0)
@@ -111,7 +106,8 @@ void Scheduler::handleRequest(wstring key, json::value value)
 		wstring type = value[L"type"].as_string();
 		double lat = value[L"location"][L"lat"].as_double();
 		double lng = value[L"location"][L"lng"].as_double();
-		Coords loc; loc.lat = lat; loc.lng = lng;
+		double altitude = value[L"altitude"].as_double();
+		Coords loc; loc.lat = lat; loc.lng = lng; loc.alt = altitude;
 		wstring payloadName = value[L"payloadName"].as_string();
 		wstring airbaseName = value[L"airbaseName"].as_string();
 		log(L"Spawning " + coalition + L" air unit of type " + type + L" with payload " + payloadName + L" at (" + to_wstring(lat) + L", " + to_wstring(lng) + L" " + airbaseName + L")");
@@ -120,9 +116,10 @@ void Scheduler::handleRequest(wstring key, json::value value)
 	else if (key.compare(L"attackUnit") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
 		int targetID = value[L"targetID"].as_integer();
 
-		Unit* unit = unitsManager->getUnit(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		Unit* target = unitsManager->getUnit(targetID);
 
 		wstring unitName;
@@ -145,12 +142,13 @@ void Scheduler::handleRequest(wstring key, json::value value)
 	else if (key.compare(L"followUnit") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
 		int leaderID = value[L"targetID"].as_integer();
 		int offsetX = value[L"offsetX"].as_integer();
 		int offsetY = value[L"offsetY"].as_integer();
 		int offsetZ = value[L"offsetZ"].as_integer();
 
-		Unit* unit = unitsManager->getUnit(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		Unit* leader = unitsManager->getUnit(leaderID);
 
 		wstring unitName;
@@ -174,30 +172,50 @@ void Scheduler::handleRequest(wstring key, json::value value)
 	else if (key.compare(L"changeSpeed") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		if (unit != nullptr)
 			unit->changeSpeed(value[L"change"].as_string());
 	}
 	else if (key.compare(L"changeAltitude") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		if (unit != nullptr)
 			unit->changeAltitude(value[L"change"].as_string());
 	}
 	else if (key.compare(L"setSpeed") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		if (unit != nullptr)
-			unit->setTargetSpeed(value[L"speed"].as_double());
+			unit->setDesiredSpeed(value[L"speed"].as_double());
+	}
+	else if (key.compare(L"setSpeedType") == 0)
+	{
+	int ID = value[L"ID"].as_integer();
+	unitsManager->acquireControl(ID);
+	Unit* unit = unitsManager->getGroupLeader(ID);
+	if (unit != nullptr)
+		unit->setDesiredSpeedType(value[L"speedType"].as_string());
 	}
 	else if (key.compare(L"setAltitude") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		if (unit != nullptr)
-			unit->setTargetAltitude(value[L"altitude"].as_double());
+			unit->setDesiredAltitude(value[L"altitude"].as_double());
+	}
+	else if (key.compare(L"setAltitudeType") == 0)
+	{
+		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
+		if (unit != nullptr)
+			unit->setDesiredAltitudeType(value[L"altitudeType"].as_string());
 	}
 	else if (key.compare(L"cloneUnit") == 0)
 	{
@@ -211,28 +229,32 @@ void Scheduler::handleRequest(wstring key, json::value value)
 	else if (key.compare(L"setROE") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		wstring ROE = value[L"ROE"].as_string();
 		unit->setROE(ROE);
 	}
 	else if (key.compare(L"setReactionToThreat") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		wstring reactionToThreat = value[L"reactionToThreat"].as_string();
 		unit->setReactionToThreat(reactionToThreat);
 	}
 	else if (key.compare(L"setEmissionsCountermeasures") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		wstring emissionsCountermeasures = value[L"emissionsCountermeasures"].as_string();
 		unit->setEmissionsCountermeasures(emissionsCountermeasures);
 	}
 	else if (key.compare(L"landAt") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		double lat = value[L"location"][L"lat"].as_double();
 		double lng = value[L"location"][L"lng"].as_double();
 		Coords loc; loc.lat = lat; loc.lng = lng;
@@ -241,18 +263,21 @@ void Scheduler::handleRequest(wstring key, json::value value)
 	else if (key.compare(L"deleteUnit") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		unitsManager->deleteUnit(ID);
+		bool explosion = value[L"explosion"].as_bool();
+		unitsManager->deleteUnit(ID, explosion);
 	}
 	else if (key.compare(L"refuel") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		unit->setState(State::REFUEL);
 	}
 	else if (key.compare(L"setAdvancedOptions") == 0)
 	{
 		int ID = value[L"ID"].as_integer();
-		Unit* unit = unitsManager->getUnit(ID);
+		unitsManager->acquireControl(ID);
+		Unit* unit = unitsManager->getGroupLeader(ID);
 		if (unit != nullptr)
 		{
 			/* Advanced tasking */
@@ -286,6 +311,75 @@ void Scheduler::handleRequest(wstring key, json::value value)
 			unit->resetActiveDestination();
 		}
 	}
+	else if (key.compare(L"setFollowRoads") == 0)
+		{
+		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
+		bool followRoads = value[L"followRoads"].as_bool();
+		Unit* unit = unitsManager->getGroupLeader(ID);
+		unit->setFollowRoads(followRoads);
+	}
+	else if (key.compare(L"setOnOff") == 0)
+		{
+		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
+		bool onOff = value[L"onOff"].as_bool();
+		Unit* unit = unitsManager->getGroupLeader(ID);
+		unit->setOnOff(onOff);
+	}
+	else if (key.compare(L"explosion") == 0)
+	{
+		int intensity = value[L"intensity"].as_integer();
+		double lat = value[L"location"][L"lat"].as_double();
+		double lng = value[L"location"][L"lng"].as_double();
+		log(L"Adding " + to_wstring(intensity) + L" explosion at (" + to_wstring(lat) + L", " + to_wstring(lng) + L")");
+		Coords loc; loc.lat = lat; loc.lng = lng;
+		command = dynamic_cast<Command*>(new Explosion(intensity, loc));
+	}
+	else if (key.compare(L"bombPoint") == 0)
+	{
+		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
+		double lat = value[L"location"][L"lat"].as_double();
+		double lng = value[L"location"][L"lng"].as_double();
+		Coords loc; loc.lat = lat; loc.lng = lng;
+		Unit* unit = unitsManager->getGroupLeader(ID);
+		unit->setState(State::BOMB_POINT);
+		unit->setTargetLocation(loc);
+	}
+	else if (key.compare(L"carpetBomb") == 0)
+	{
+		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
+		double lat = value[L"location"][L"lat"].as_double();
+		double lng = value[L"location"][L"lng"].as_double();
+		Coords loc; loc.lat = lat; loc.lng = lng;
+		Unit* unit = unitsManager->getGroupLeader(ID);
+		unit->setState(State::CARPET_BOMB);
+		unit->setTargetLocation(loc);
+	}
+	else if (key.compare(L"bombBuilding") == 0)
+	{
+		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
+		double lat = value[L"location"][L"lat"].as_double();
+		double lng = value[L"location"][L"lng"].as_double();
+		Coords loc; loc.lat = lat; loc.lng = lng;
+		Unit* unit = unitsManager->getGroupLeader(ID);
+		unit->setState(State::BOMB_BUILDING);
+		unit->setTargetLocation(loc);
+	}
+	else if (key.compare(L"fireAtArea") == 0)
+	{
+		int ID = value[L"ID"].as_integer();
+		unitsManager->acquireControl(ID);
+		double lat = value[L"location"][L"lat"].as_double();
+		double lng = value[L"location"][L"lng"].as_double();
+		Coords loc; loc.lat = lat; loc.lng = lng;
+		Unit* unit = unitsManager->getGroupLeader(ID);
+		unit->setState(State::FIRE_AT_AREA);
+		unit->setTargetLocation(loc);
+	}
 	else
 	{
 		log(L"Unknown command: " + key);
diff --git a/src/core/src/unit.cpp b/src/core/src/unit.cpp
index b32dc785..0e402933 100644
--- a/src/core/src/unit.cpp
+++ b/src/core/src/unit.cpp
@@ -46,19 +46,30 @@ Unit::~Unit()
 void Unit::initialize(json::value json)
 {
 	updateExportData(json);
+	setDefaults();
+}
 
-	if (getAI()) {
+void Unit::setDefaults(bool force)
+{
+	const bool isUnitControlledByOlympus = getControlled();
+	const bool isUnitAlive = getAlive();
+	const bool isUnitLeader = unitsManager->isUnitGroupLeader(this);
+	const bool isUnitLeaderOfAGroupWithOtherUnits = unitsManager->isUnitInGroup(this) && unitsManager->isUnitGroupLeader(this);
+	const bool isUnitHuman = getFlags()[L"Human"].as_bool();
+	if (isUnitControlledByOlympus && (isUnitAlive || isUnitLeaderOfAGroupWithOtherUnits) && isUnitLeader && !isUnitHuman) {
 		/* Set the default IDLE state */
 		setState(State::IDLE);
 
 		/* Set the default options (these are all defaults so will only affect the export data, no DCS command will be sent) */
-		setROE(L"Designated");
-		setReactionToThreat(L"Evade");
-		setEmissionsCountermeasures(L"Defend");
-		setTACAN(TACAN);
-		setRadio(radio);
-		setEPLRS(EPLRS);
-		setGeneralSettings(generalSettings);
+		setROE(L"Designated", force);
+		setReactionToThreat(L"Evade", force);
+		setEmissionsCountermeasures(L"Defend", force);
+		setTACAN(TACAN, force);
+		setRadio(radio, force);
+		setEPLRS(EPLRS, force);
+		setGeneralSettings(generalSettings, force);
+		setOnOff(onOff);
+		setFollowRoads(followRoads);
 	}
 }
 
@@ -77,6 +88,24 @@ void Unit::addMeasure(wstring key, json::value value)
 	}
 }
 
+void Unit::runAILoop() {
+	/* If the unit is alive and it is not a human, run the AI Loop that performs the requested commands and instructions (moving, attacking, etc) */
+	const bool isUnitControlledByOlympus = getControlled();
+	const bool isUnitAlive = getAlive();
+	const bool isUnitLeader = unitsManager->isUnitGroupLeader(this);
+	const bool isUnitLeaderOfAGroupWithOtherUnits = unitsManager->isUnitInGroup(this) && unitsManager->isUnitGroupLeader(this);
+	const bool isUnitHuman = getFlags()[L"Human"].as_bool();
+
+	// Keep running the AI loop even if the unit is dead if it is the leader of a group which has other members in it
+	if (isUnitControlledByOlympus && (isUnitAlive || isUnitLeaderOfAGroupWithOtherUnits) && isUnitLeader && !isUnitHuman)
+	{
+		if (checkTaskFailed() && state != State::IDLE && State::LAND)
+			setState(State::IDLE);
+
+		AIloop();
+	}
+}
+
 void Unit::updateExportData(json::value json)
 {
 	/* Compute speed (loGetWorldObjects does not provide speed, we compute it for better performance instead of relying on many lua calls) */
@@ -112,12 +141,8 @@ void Unit::updateExportData(json::value json)
 		setFlags(json[L"Flags"]);
 
 	/* All units which contain the name "Olympus" are automatically under AI control */
-	/* TODO: I don't really like using this method */
-	setAI(getUnitName().find(L"Olympus") != wstring::npos);
-
-	/* If the unit is alive and it is not a human, run the AI Loop that performs the requested commands and instructions (moving, attacking, etc) */
-	if (getAI() && getAlive() && getFlags()[L"Human"].as_bool() == false)
-		AIloop();
+	if (getUnitName().find(L"Olympus") != wstring::npos)
+		setControlled(true);
 }
 
 void Unit::updateMissionData(json::value json)
@@ -126,19 +151,23 @@ void Unit::updateMissionData(json::value json)
 		setFuel(int(json[L"fuel"].as_number().to_double() * 100));
 	if (json.has_object_field(L"ammo"))
 		setAmmo(json[L"ammo"]);
-	if (json.has_object_field(L"targets"))
-		setTargets(json[L"targets"]);
+	if (json.has_object_field(L"contacts"))
+		setContacts(json[L"contacts"]);
 	if (json.has_boolean_field(L"hasTask"))
 		setHasTask(json[L"hasTask"].as_bool());
 }
 
-json::value Unit::getData(long long time)
+json::value Unit::getData(long long time, bool sendAll)
 {
 	auto json = json::value::object();
 
+	/* If the unit is in a group, task & option data is given by the group leader */
+	if (unitsManager->isUnitInGroup(this) && !unitsManager->isUnitGroupLeader(this)) 
+		json = unitsManager->getGroupLeader(this)->getData(time, true);
+	
 	/********** Base data **********/
 	json[L"baseData"] = json::value::object();
-	for (auto key : { L"AI", L"name", L"unitName", L"groupName", L"alive", L"category"})
+	for (auto key : { L"controlled", L"name", L"unitName", L"groupName", L"alive", L"category"})
 	{
 		if (measures.find(key) != measures.end() && measures[key]->getTime() > time)
 			json[L"baseData"][key] = measures[key]->getValue();
@@ -146,7 +175,7 @@ json::value Unit::getData(long long time)
 	if (json[L"baseData"].size() == 0)
 		json.erase(L"baseData");
 
-	if (alive) {
+	if (alive || sendAll) {
 		/********** Flight data **********/
 		json[L"flightData"] = json::value::object();
 		for (auto key : { L"latitude", L"longitude", L"altitude", L"speed", L"heading" })
@@ -159,7 +188,7 @@ json::value Unit::getData(long long time)
 
 		/********** Mission data **********/
 		json[L"missionData"] = json::value::object();
-		for (auto key : { L"fuel", L"ammo", L"targets", L"hasTask", L"coalition", L"flags" })
+		for (auto key : { L"fuel", L"ammo", L"contacts", L"hasTask", L"coalition", L"flags" })
 		{
 			if (measures.find(key) != measures.end() && measures[key]->getTime() > time)
 				json[L"missionData"][key] = measures[key]->getValue();
@@ -177,25 +206,28 @@ json::value Unit::getData(long long time)
 		if (json[L"formationData"].size() == 0)
 			json.erase(L"formationData");
 
-		/********** Task data **********/
-		json[L"taskData"] = json::value::object();
-		for (auto key : { L"currentState", L"currentTask", L"targetSpeed", L"targetAltitude", L"activePath", L"isTanker", L"isAWACS" })
-		{
-			if (measures.find(key) != measures.end() && measures[key]->getTime() > time)
-				json[L"taskData"][key] = measures[key]->getValue();
-		}
-		if (json[L"taskData"].size() == 0)
-			json.erase(L"taskData");
+		/* If the unit is in a group, task & option data is given by the group leader */
+		if (unitsManager->isUnitGroupLeader(this)) {
+			/********** Task data **********/
+			json[L"taskData"] = json::value::object();
+			for (auto key : { L"currentState", L"currentTask", L"desiredSpeed", L"desiredAltitude", L"desiredSpeedType", L"desiredAltitudeType", L"activePath", L"isTanker", L"isAWACS", L"onOff", L"followRoads", L"targetID", L"targetLocation" })
+			{
+				if (measures.find(key) != measures.end() && measures[key]->getTime() > time)
+					json[L"taskData"][key] = measures[key]->getValue();
+			}
+			if (json[L"taskData"].size() == 0)
+				json.erase(L"taskData");
 
-		/********** Options data **********/
-		json[L"optionsData"] = json::value::object();
-		for (auto key : { L"ROE", L"reactionToThreat", L"emissionsCountermeasures", L"TACAN", L"radio", L"generalSettings"})
-		{
-			if (measures.find(key) != measures.end() && measures[key]->getTime() > time)
-				json[L"optionsData"][key] = measures[key]->getValue();
+			/********** Options data **********/
+			json[L"optionsData"] = json::value::object();
+			for (auto key : { L"ROE", L"reactionToThreat", L"emissionsCountermeasures", L"TACAN", L"radio", L"generalSettings" })
+			{
+				if (measures.find(key) != measures.end() && measures[key]->getTime() > time)
+					json[L"optionsData"][key] = measures[key]->getValue();
+			}
+			if (json[L"optionsData"].size() == 0)
+				json.erase(L"optionsData");
 		}
-		if (json[L"optionsData"].size() == 0)
-			json.erase(L"optionsData");
 	}
 
 	return json;
@@ -322,8 +354,10 @@ void Unit::resetActiveDestination()
 
 void Unit::resetTask()
 {
-	Command* command = dynamic_cast<Command*>(new ResetTask(ID));
+	Command* command = dynamic_cast<Command*>(new ResetTask(groupName));
 	scheduler->appendCommand(command);
+	setHasTask(false);
+	resetTaskFailedCounter();
 }
 
 void Unit::setFormationOffset(Offset newFormationOffset)
@@ -332,10 +366,10 @@ void Unit::setFormationOffset(Offset newFormationOffset)
 	resetTask();
 }
 
-void Unit::setROE(wstring newROE) {
+void Unit::setROE(wstring newROE, bool force) {
 	addMeasure(L"ROE", json::value(newROE));
 	
-	if (ROE != newROE) {
+	if (ROE != newROE || force) {
 		ROE = newROE;
 
 		int ROEEnum;
@@ -352,15 +386,15 @@ void Unit::setROE(wstring newROE) {
 		else
 			return;
 
-		Command* command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::ROE, ROEEnum));
+		Command* command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::ROE, ROEEnum));
 		scheduler->appendCommand(command);
 	}
 }
 
-void Unit::setReactionToThreat(wstring newReactionToThreat) {
+void Unit::setReactionToThreat(wstring newReactionToThreat, bool force) {
 	addMeasure(L"reactionToThreat", json::value(newReactionToThreat));
 
-	if (reactionToThreat != newReactionToThreat) {
+	if (reactionToThreat != newReactionToThreat || force) {
 		reactionToThreat = newReactionToThreat;
 
 		int reactionToThreatEnum;
@@ -377,15 +411,15 @@ void Unit::setReactionToThreat(wstring newReactionToThreat) {
 		else
 			return;
 
-		Command* command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::REACTION_ON_THREAT, reactionToThreatEnum));
+		Command* command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::REACTION_ON_THREAT, reactionToThreatEnum));
 		scheduler->appendCommand(command);
 	}
 }
 
-void Unit::setEmissionsCountermeasures(wstring newEmissionsCountermeasures) {
+void Unit::setEmissionsCountermeasures(wstring newEmissionsCountermeasures, bool force) {
 	addMeasure(L"emissionsCountermeasures", json::value(newEmissionsCountermeasures)); 
 
-	if (emissionsCountermeasures != newEmissionsCountermeasures) {
+	if (emissionsCountermeasures != newEmissionsCountermeasures || force) {
 		emissionsCountermeasures = newEmissionsCountermeasures;
 
 		int radarEnum;
@@ -420,13 +454,13 @@ void Unit::setEmissionsCountermeasures(wstring newEmissionsCountermeasures) {
 
 		Command* command;
 
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::RADAR_USING, radarEnum));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::RADAR_USING, radarEnum));
 		scheduler->appendCommand(command);
 
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::FLARE_USING, flareEnum));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::FLARE_USING, flareEnum));
 		scheduler->appendCommand(command);
 
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::ECM_USING, ECMEnum));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::ECM_USING, ECMEnum));
 		scheduler->appendCommand(command);
 	}
 }
@@ -450,7 +484,7 @@ void Unit::setIsAWACS(bool newIsAWACS) {
 	setEPLRS(isAWACS);
 }
 
-void Unit::setTACAN(Options::TACAN newTACAN) {
+void Unit::setTACAN(Options::TACAN newTACAN, bool force) {
 	auto json = json::value();
 	json[L"isOn"] = json::value(newTACAN.isOn);
 	json[L"channel"] = json::value(newTACAN.channel);
@@ -458,7 +492,7 @@ void Unit::setTACAN(Options::TACAN newTACAN) {
 	json[L"callsign"] = json::value(newTACAN.callsign);
 	addMeasure(L"TACAN", json);
 
-	if (TACAN != newTACAN)
+	if (TACAN != newTACAN || force)
 	{
 		TACAN = newTACAN;
 		if (TACAN.isOn) {
@@ -473,7 +507,7 @@ void Unit::setTACAN(Options::TACAN newTACAN) {
 				<< "frequency = " << TACANChannelToFrequency(TACAN.channel, TACAN.XY) << ","
 				<< "}"
 				<< "}";
-			Command* command = dynamic_cast<Command*>(new SetCommand(ID, commandSS.str()));
+			Command* command = dynamic_cast<Command*>(new SetCommand(groupName, commandSS.str()));
 			scheduler->appendCommand(command);
 		}
 		else {
@@ -483,13 +517,13 @@ void Unit::setTACAN(Options::TACAN newTACAN) {
 				<< "params = {"
 				<< "}"
 				<< "}";
-			Command* command = dynamic_cast<Command*>(new SetCommand(ID, commandSS.str()));
+			Command* command = dynamic_cast<Command*>(new SetCommand(groupName, commandSS.str()));
 			scheduler->appendCommand(command);
 		}
 	}
 }
 
-void Unit::setRadio(Options::Radio newRadio) {
+void Unit::setRadio(Options::Radio newRadio, bool force) {
 
 	auto json = json::value();
 	json[L"frequency"] = json::value(newRadio.frequency);
@@ -497,7 +531,7 @@ void Unit::setRadio(Options::Radio newRadio) {
 	json[L"callsignNumber"] = json::value(newRadio.callsignNumber);
 	addMeasure(L"radio", json);
 
-	if (radio != newRadio)
+	if (radio != newRadio || force)
 	{
 		radio = newRadio;
 
@@ -511,7 +545,7 @@ void Unit::setRadio(Options::Radio newRadio) {
 			<< "frequency = " << radio.frequency << ","
 			<< "}"
 			<< "}";
-		command = dynamic_cast<Command*>(new SetCommand(ID, commandSS.str()));
+		command = dynamic_cast<Command*>(new SetCommand(groupName, commandSS.str()));
 		scheduler->appendCommand(command);
 
 		// Clear the stringstream
@@ -524,16 +558,16 @@ void Unit::setRadio(Options::Radio newRadio) {
 			<< "number = " << radio.callsignNumber << ","
 			<< "}"
 			<< "}";
-		command = dynamic_cast<Command*>(new SetCommand(ID, commandSS.str()));
+		command = dynamic_cast<Command*>(new SetCommand(groupName, commandSS.str()));
 		scheduler->appendCommand(command);
 	}
 }
 
-void Unit::setEPLRS(bool newEPLRS)
+void Unit::setEPLRS(bool newEPLRS, bool force)
 {
 	//addMeasure(L"EPLRS", json::value(newEPLRS)); 
 	//
-	//if (EPLRS != newEPLRS) {
+	//if (EPLRS != newEPLRS || force) {
 	//	EPLRS = newEPLRS;
 	//
 	//	std::wostringstream commandSS;
@@ -548,7 +582,7 @@ void Unit::setEPLRS(bool newEPLRS)
 	//}
 }
 
-void Unit::setGeneralSettings(Options::GeneralSettings newGeneralSettings) {
+void Unit::setGeneralSettings(Options::GeneralSettings newGeneralSettings, bool force) {
 
 	auto json = json::value();
 	json[L"prohibitJettison"] = json::value(newGeneralSettings.prohibitJettison);
@@ -563,16 +597,143 @@ void Unit::setGeneralSettings(Options::GeneralSettings newGeneralSettings) {
 		generalSettings = newGeneralSettings;
 
 		Command* command;
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::PROHIBIT_AA, generalSettings.prohibitAA));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::PROHIBIT_AA, generalSettings.prohibitAA));
 		scheduler->appendCommand(command);
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::PROHIBIT_AG, generalSettings.prohibitAG));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::PROHIBIT_AG, generalSettings.prohibitAG));
 		scheduler->appendCommand(command);
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::PROHIBIT_JETT, generalSettings.prohibitJettison));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::PROHIBIT_JETT, generalSettings.prohibitJettison));
 		scheduler->appendCommand(command);
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::PROHIBIT_AB, generalSettings.prohibitAfterburner));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::PROHIBIT_AB, generalSettings.prohibitAfterburner));
 		scheduler->appendCommand(command);
-		command = dynamic_cast<Command*>(new SetOption(ID, SetCommandType::ENGAGE_AIR_WEAPONS, !generalSettings.prohibitAirWpn));
+		command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::ENGAGE_AIR_WEAPONS, !generalSettings.prohibitAirWpn));
 		scheduler->appendCommand(command);
 	}
 }
 
+void Unit::setDesiredSpeed(double newDesiredSpeed) {
+	desiredSpeed = newDesiredSpeed; 
+	addMeasure(L"desiredSpeed", json::value(newDesiredSpeed));
+	if (state == State::IDLE)
+		resetTask();
+	else
+		goToDestination();		/* Send the command to reach the destination */
+}
+
+void Unit::setDesiredAltitude(double newDesiredAltitude) {
+	desiredAltitude = newDesiredAltitude;
+	addMeasure(L"desiredAltitude", json::value(newDesiredAltitude));
+	if (state == State::IDLE)
+		resetTask();
+	else
+		goToDestination();		/* Send the command to reach the destination */
+}
+
+void Unit::setDesiredSpeedType(wstring newDesiredSpeedType) {
+	desiredSpeedType = newDesiredSpeedType; 
+	addMeasure(L"desiredSpeedType", json::value(newDesiredSpeedType));
+	if (state == State::IDLE)
+		resetTask();
+	else
+		goToDestination();		/* Send the command to reach the destination */
+}
+
+void Unit::setDesiredAltitudeType(wstring newDesiredAltitudeType) {
+	desiredAltitudeType = newDesiredAltitudeType; 
+	addMeasure(L"desiredAltitudeType", json::value(newDesiredAltitudeType));
+	if (state == State::IDLE)
+		resetTask();
+	else
+		goToDestination();		/* Send the command to reach the destination */
+}
+
+void Unit::goToDestination(wstring enrouteTask)
+{
+	if (activeDestination != NULL)
+	{
+		Command* command = dynamic_cast<Command*>(new Move(groupName, activeDestination, getDesiredSpeed(), getDesiredSpeedType(), getDesiredAltitude(), getDesiredAltitudeType(), enrouteTask, getCategory()));
+		scheduler->appendCommand(command);
+		setHasTask(true);
+	}
+}
+
+bool Unit::isDestinationReached(double threshold)
+{
+	if (activeDestination != NULL)
+	{
+		/* Check if any unit in the group has reached the point */
+		for (auto const& p: unitsManager->getGroupMembers(groupName))
+		{
+			double dist = 0;
+			Geodesic::WGS84().Inverse(p->getLatitude(), p->getLongitude(), activeDestination.lat, activeDestination.lng, dist);
+			if (dist < threshold)
+			{
+				log(unitName + L" destination reached");
+				return true;
+			}
+			else {
+				return false;
+			}
+	}
+	}
+	else
+		return true;
+}
+
+bool Unit::setActiveDestination()
+{
+	if (activePath.size() > 0)
+	{
+		activeDestination = activePath.front();
+		log(unitName + L" active destination set to queue front");
+		return true;
+	}
+	else
+	{
+		activeDestination = Coords(0);
+		log(unitName + L" active destination set to NULL");
+		return false;
+	}
+}
+
+bool Unit::updateActivePath(bool looping)
+{
+	if (activePath.size() > 0)
+	{
+		/* Push the next destination in the queue to the front */
+		if (looping)
+			pushActivePathBack(activePath.front());
+		popActivePathFront();
+		log(unitName + L" active path front popped");
+		return true;
+	}
+	else {
+		return false;
+	}
+}
+
+void Unit::setTargetLocation(Coords newTargetLocation) { 
+	targetLocation = newTargetLocation; 
+	auto json = json::value();
+	json[L"latitude"] = json::value(newTargetLocation.lat);
+	json[L"longitude"] = json::value(newTargetLocation.lng);
+	addMeasure(L"targetLocation", json::value(json));
+}
+
+bool Unit::checkTaskFailed() {
+	if (getHasTask()) 
+		return false;
+	else {
+		if (taskCheckCounter > 0)
+			taskCheckCounter--;
+		return taskCheckCounter == 0;
+	}
+}
+
+void Unit::resetTaskFailedCounter() {
+	taskCheckCounter = TASK_CHECK_INIT_VALUE;
+}
+
+void Unit::setHasTask(bool newHasTask) { 
+	hasTask = newHasTask; 
+	addMeasure(L"hasTask", json::value(newHasTask)); 
+}
\ No newline at end of file
diff --git a/src/core/src/unitsmanager.cpp b/src/core/src/unitsmanager.cpp
index 00b1b8cd..64e57c8e 100644
--- a/src/core/src/unitsmanager.cpp
+++ b/src/core/src/unitsmanager.cpp
@@ -95,6 +95,14 @@ void UnitsManager::updateMissionData(json::value missionData)
 	}
 }
 
+void UnitsManager::runAILoop() {
+	/* Run the AI Loop on all units */
+	for (auto const& unit : units)
+	{
+		unit.second->runAILoop();
+	}
+}
+
 void UnitsManager::getData(json::value& answer, long long time)
 {
 	auto unitsJson = json::value::object();
@@ -116,3 +124,17 @@ void UnitsManager::deleteUnit(int ID)
 	}
 }
 
+void UnitsManager::acquireControl(int ID) {
+	Unit* unit = getUnit(ID);
+	if (unit != nullptr) {
+		for (auto const& groupMember : getGroupMembers(unit->getGroupName())) {
+			if (!groupMember->getControlled()) {
+				groupMember->setControlled(true);
+				groupMember->setState(State::IDLE);
+				groupMember->setDefaults(true);
+			}
+		}
+	}
+	
+}
+