AIRBOSS v0.3.0

RESCUEHELO v0.9.2
RECOVERYTANKER v0.9.2

Moose Development/Moose/AI/AI_Formation.lua

@@ -906,7 +906,7 @@ function AI_FORMATION:SetFlightRandomization( FlightRandomization ) --R2.1
 end
 
 
---- Follow event fuction. Check if coming from state "stopped". If so the transition is rejected.
+--- Stop function. Formation will not be updated any more.
 -- @param #AI_FORMATION self
 -- @param Core.Set#SET_GROUP FollowGroupSet The following set of groups.
 -- @param #string From From state.

Moose Development/Moose/Core/Point.lua

@@ -1132,7 +1132,7 @@ do -- COORDINATE
   --    HeliGroup:Route( { LandWaypoint }, 1 ) -- Start landing the helicopter in one second.
   -- 
   function COORDINATE:WaypointAirLanding( Speed, airbase, DCSTasks, description )
-    return self:WaypointAir( nil, COORDINATE.WaypointType.Land, COORDINATE.WaypointAction.Landing, Speed, airbase, DCSTasks, description )
+    return self:WaypointAir(nil, COORDINATE.WaypointType.Land, COORDINATE.WaypointAction.Landing, Speed, nil, airbase, DCSTasks, description)
   end
   
   

Moose Development/Moose/Functional/Warehouse.lua

@@ -1790,7 +1790,7 @@ WAREHOUSE.version="0.6.6"
 
 --- The WAREHOUSE constructor. Creates a new WAREHOUSE object from a static object. Parameters like the coalition and country are taken from the static object structure.
 -- @param #WAREHOUSE self
--- @param Wrapper.Static#STATIC warehouse The physical structure of the warehouse.
+-- @param Wrapper.Static#STATIC warehouse The physical structure representing the warehouse.
 -- @param #string alias (Optional) Alias of the warehouse, i.e. the name it will be called when sending messages etc. Default is the name of the static  
 -- @return #WAREHOUSE self
 function WAREHOUSE:New(warehouse, alias)
@@ -1798,8 +1798,9 @@ function WAREHOUSE:New(warehouse, alias)
   
   -- Check if just a string was given and convert to static.
   if type(warehouse)=="string" then
-    warehouse=GROUP:FindByName(warehouse)
+    warehouse=UNIT:FindByName(warehouse)
     if warehouse==nil then
+      env.info(string.format("FF no warehouse unit with name %s found trying static.", warehouse))
       warehouse=STATIC:FindByName(warehouse, true)
     end
   end

Moose Development/Moose/Ops/Airboss.lua

@@ -10,11 +10,11 @@
 --    * Different skill levels from tipps on-the-fly for students to complete ziplip for pros.
 --    * Rescue helo option.
 --    * Recovery tanker option.
---    * Voice overs for LSO and AIRBOSS calls. Can easily customized by users.
+--    * Voice overs for LSO and AIRBOSS calls. Can easily be customized by users.
 --    * Automatic TACAN and ICLS channel setting.
 --    * Different radio channels for LSO and airboss calls.
 --    * F10 radio menu including carrier info (weather, radio frequencies, TACAN/ICLS channels, LSO grades).
---    * Multiple carriers supported.
+--    * Multiple carriers supported (due to object oriented approach).
 --
 -- **PLEASE NOTE** that his class is work in progress and in an **alpha** stage.
 -- At the moment training parameters are optimized for F/A-18C Hornet as aircraft and USS John C. Stennis as carrier.
@@ -68,6 +68,7 @@
 -- @field #table Qpattern Queue of aircraft groups in the landing pattern.
 -- @field Ops.RescueHelo#RESCUEHELO rescuehelo Rescue helo flying in close formation with the carrier.
 -- @field Ops.RecoveryTanker#RECOVERYTANKER tanker Recovery tanker flying overhead of carrier.
+-- @field Functional.Warehouse#WAREHOUSE warehouse Warehouse object of the carrier.
 -- @field #table recoverytime List of time intervals when aircraft are recovered.
 -- @extends Core.Fsm#FSM
 
@@ -123,6 +124,7 @@ AIRBOSS = {
   Qmarshal     =  {},
   rescuehelo   = nil,
   tanker       = nil,
+  warehouse    = nil,
   recoverytime =  {},
 }
 
@@ -137,6 +139,8 @@ AIRBOSS.AircraftPlayer={
 
 --- Aircraft types capable of landing on carrier (human+AI).
 -- @type AIRBOSS.AircraftCarrier
+-- @field #string AV8B AV-8B Night Harrier.
+-- @field #string HORNET F/A-18C Lot 20 Hornet.
 -- @field #string S3B Lockheed S-3B Viking.
 -- @field #string S3BTANKER Lockheed S-3B Viking tanker.
 -- @field #string E2D Grumman E-2D Hawkeye AWACS.
@@ -150,7 +154,7 @@ AIRBOSS.AircraftCarrier={
   E2D="E-2C",
   FA18C="F/A-18C",
   F14A="F-14A",
-  --TODO: Add A-A4-E-C
+  --TODO: Add A4-E-C
 }
 
 
@@ -417,12 +421,13 @@ AIRBOSS.MenuF10={}
 
 --- Airboss class version.
 -- @field #string version
-AIRBOSS.version="0.2.9"
+AIRBOSS.version="0.3.0"
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- TODO list
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 
+-- TODO: Set case II and III times. 
 -- TODO: Get an _OK_ pass if long in groove. Possible other pattern wave offs as well?!
 -- TODO: Add radio transmission queue for LSO and airboss.
 -- TODO: Get correct wire when trapped.
@@ -459,7 +464,10 @@ AIRBOSS.version="0.2.9"
 function AIRBOSS:New(carriername, alias)
 
   -- Inherit everthing from FSM class.
-  local self = BASE:Inherit(self, FSM:New()) -- #AIRBOSS
+  local self=BASE:Inherit(self, FSM:New()) -- #AIRBOSS
+  
+  -- Debug.
+  self:F2({carriername=carriername, alias=alias})
 
   -- Set carrier unit.
   self.carrier=UNIT:FindByName(carriername)
@@ -515,8 +523,8 @@ function AIRBOSS:New(carriername, alias)
     return nil
   end
   
-  -- Zone 3 NM astern and 100 m starboard of the carrier with radius of 2.0 km.
+  -- Zone 3 NM astern and 100 m starboard of the carrier with radius of 0.5 km.
-  self.zoneInitial=ZONE_UNIT:New("Initial Zone", self.carrier, 2.0*1000, {dx=-UTILS.NMToMeters(3), dy=100, relative_to_unit=true})
+  self.zoneInitial=ZONE_UNIT:New("Initial Zone", self.carrier, 0.5*1000, {dx=-UTILS.NMToMeters(3), dy=100, relative_to_unit=true})
   
   -- CCA 50 NM radius zone around the carrier.
   self:SetCarrierControlledArea()
@@ -729,6 +737,35 @@ function AIRBOSS:SetCarrierradio(frequency, modulation)
 end
 
 
+--- Define rescue helicopter associated with the carrier.
+-- @param #AIRBOSS self
+-- @param Ops.RescueHelo#RESCUEHELO rescuehelo Rescue helo object.
+-- @return #ARIBOSS self
+function AIRBOSS:SetRescueHelo(rescuehelo)
+  self.rescuehelo=rescuehelo
+  return self
+end
+
+--- Define recovery tanker associated with the carrier.
+-- @param #AIRBOSS self
+-- @param Ops.RecoveryTanker#RECOVERYTANKER recoverytanker Recovery tanker object.
+-- @return #ARIBOSS self
+function AIRBOSS:SetRecoveryTanker(recoverytanker)
+  self.tanker=recoverytanker
+  return self
+end
+
+
+--- Define warehouse associated with the carrier.
+-- @param #AIRBOSS self
+-- @param Functional.Warehouse#WAREHOUSE warehouse Warehouse object of the carrier.
+-- @return #ARIBOSS self
+function AIRBOSS:SetWarehouse(warehouse)
+  self.warehouse=warehouse
+  return self
+end
+
+
 --- Check if carrier is recovering aircraft.
 -- @param #AIRBOSS self
 -- @return #boolean If true, time slot for recovery is open.
@@ -805,8 +842,8 @@ function AIRBOSS:onafterStatus(From, Event, To)
   -- Update marshal and pattern queue every 30 seconds.
   if time-self.Tqueue>30 then
 
-    local text=string.format("AIRBOSS %s: Status %s.", self.alias, self:GetState())
+    local text=string.format("Status %s.", self:GetState())
-    self:I(text)  
+    self:I(self.lid..text)  
   
     -- Scan carrier zone for new aircraft.
     self:_ScanCarrierZone()
@@ -946,14 +983,15 @@ function AIRBOSS:_InitStennis()
 
   -- 4k descent from holding pattern to 5k platform
   self.C3Descent4k.name="4k Descent"
-  self.C3Descent4k.Xmin=-UTILS.NMToMeters(35)
+  self.C3Descent4k.Xmin=-UTILS.NMToMeters(50)
   self.C3Descent4k.Xmax=-UTILS.NMToMeters(20)
-  self.C3Descent4k.Zmin=-UTILS.NMToMeters(30)
+  self.C3Descent4k.Zmin=-UTILS.NMToMeters(10)
-  self.C3Descent4k.Zmax= UTILS.NMToMeters(30)
+  self.C3Descent4k.Zmax= UTILS.NMToMeters(3)
   self.C3Descent4k.LimitXmin=nil
   self.C3Descent4k.LimitXmax=-UTILS.NMToMeters(20) --TODO: better rho dist. decrease descent 20 2000 ft/min at 5000 ft alt and user rad alt.
   self.C3Descent4k.LimitZmin=nil
   self.C3Descent4k.LimitZmax=nil
+  -- TODO: alt, AoA are more aircraft functions rather than carrier
   self.C3Descent4k.Altitude=nil --UTILS.FeetToMeters(5000)
   self.C3Descent4k.AoA=nil
   self.C3Descent4k.Distance=nil
@@ -1004,7 +1042,7 @@ function AIRBOSS:_InitStennis()
   self.Upwind.name="Upwind"
   self.Upwind.Xmin=-UTILS.NMToMeters(4)
   self.Upwind.Xmax=nil
-  self.Upwind.Zmin=0
+  self.Upwind.Zmin=-100
   self.Upwind.Zmax=1000
   self.Upwind.LimitXmin=0
   self.Upwind.LimitXmax=nil
@@ -1018,8 +1056,8 @@ function AIRBOSS:_InitStennis()
   self.BreakEarly.name="Early Break"
   self.BreakEarly.Xmin=-500
   self.BreakEarly.Xmax=UTILS.NMToMeters(5)
-  self.BreakEarly.Zmin=-3700
+  self.BreakEarly.Zmin=-UTILS.NMToMeters(2)
-  self.BreakEarly.Zmax=1500
+  self.BreakEarly.Zmax=UTILS.NMToMeters(1)
   self.BreakEarly.LimitXmin=0
   self.BreakEarly.LimitXmax=nil
   self.BreakEarly.LimitZmin=-370   -- 0.2 NM port of carrier
@@ -1032,8 +1070,8 @@ function AIRBOSS:_InitStennis()
   self.BreakLate.name="Late Break"
   self.BreakLate.Xmin=-500
   self.BreakLate.Xmax=UTILS.NMToMeters(5)
-  self.BreakLate.Zmin=-3700
+  self.BreakLate.Zmin=-UTILS.NMToMeters(2)
-  self.BreakLate.Zmax=1500
+  self.BreakLate.Zmax=UTILS.NMToMeters(1)
   self.BreakLate.LimitXmin=0
   self.BreakLate.LimitXmax=nil
   self.BreakLate.LimitZmin=-1470  --0.8 NM
@@ -1156,6 +1194,8 @@ function AIRBOSS:_CheckQueue()
     local TpatternMin=120
     if self.case==1 then
       TpatternMin=45
+    else
+      TpatternMin=120
     end
     
     -- Min time in marshal before send to landing pattern.
@@ -1417,6 +1457,12 @@ function AIRBOSS:_MarshalAI(flight)
   local group=flight.group
   local groupname=flight.groupname
   
+  -- Check that we do not add a recovery tanker for marshaling.
+  -- TODO: Fix group name.
+  if self.tanker and self.tanker.tanker:GetName()==groupname then    
+    return
+  end
+
   -- Number of already full marshal stacks.
   local nstacks=#self.Qmarshal
   
@@ -1499,7 +1545,7 @@ function AIRBOSS:_GetMarshalAltitude(stack)
     Dist=UTILS.NMToMeters(2.5)
     p1=Carrier:Translate(Dist, hdg-70)
   else
-    -- CASE III: Holding at 6000 ft on a racetrack pattern astern the carrier.
+    -- CASE II/III: Holding at 6000 ft on a racetrack pattern astern the carrier.
     angels0=6
     Dist=UTILS.NMToMeters((stack-1)*angels0+15)
     p1=Carrier:Translate(-Dist, hdg)
@@ -1688,10 +1734,8 @@ function AIRBOSS:_CheckPlayerStatus()
             -- Status undefined.
             local time=timer.getAbsTime()
             local clock=UTILS.SecondsToClock(time)
-            self:I(string.format("Player status undefined. Waiting for next step. Time %s", clock))
+            self:T3(string.format("Player status undefined. Waiting for next step. Time %s", clock))
             
-            -- Jump directly to CASE I straight in approach.
-            --playerData.step=AIRBOSS.PatternStep.COMMENCING
             
             -- Jump to final/groove for testing.
             if self.groovedebug then     
@@ -1853,7 +1897,7 @@ function AIRBOSS:OnEventBirth(EventData)
     --self:RadioTransmission(self.LSOradio, self.radiocall.LONGINGROOVE, false, 20)
     
     -- Start in the groove for debugging.
-    self.groovedebug=false
+    self.groovedebug=true
     
   end 
 end
@@ -1887,6 +1931,7 @@ function AIRBOSS:OnEventLand(EventData)
   self:T3(self.lid.."LAND: player = "..tostring(_playername))
       
   if _unit and _playername then
+    -- Human Player landed.
   
     local _uid=_unit:GetID()
     local _group=_unit:GetGroup()
@@ -1935,8 +1980,8 @@ function AIRBOSS:OnEventLand(EventData)
     end
     
   else
+    -- AI unit landed.
     
-    -- TODO: Get landing coodinates of AI hornet for perfect _OK_ 3-wire pass!
     -- Coordinate at landing event
     local coord=EventData.IniUnit:GetCoordinate()
     
@@ -1974,6 +2019,7 @@ function AIRBOSS:OnEventCrash(EventData)
   
   
   -- TODO: Update queues!
+  -- TODO: decrease number of units in group
   if _unit and _playername then
     self:I(self.lid.."Player %s crashed!",_playername)
   else
@@ -2056,16 +2102,25 @@ function AIRBOSS:_InitPlayer(playerData)
   return playerData
 end
 
+local _bla=true
+
 --- Holding.
 -- @param #AIRBOSS self
 -- @param #AIRBOSS.PlayerData playerData Player data.
 function AIRBOSS:_Holding(playerData)
 
+  -- Player unit and flight.
   local unit=playerData.unit
   local flight=self:_GetFlightFromGroupInQueue(playerData.group, self.flights)
+  
+  -- Current stack.
   local stack=flight.flag:Get()
   
-  local alt, c1, c2=self:_GetMarshalAltitude(stack)
+  -- Pattern alitude.
+  local patternalt, c1, c2=self:_GetMarshalAltitude(stack)
+  
+  -- Player altitude.
+  local playeralt=unit:GetAltitude()
   
   -- Create a holding zone depending on recovery case.
   local zoneHolding  --Core.Zone#ZONE
@@ -2082,52 +2137,87 @@ function AIRBOSS:_Holding(playerData)
     
     -- Create an array of a square!
     local p={}
-    p[1]=c1:GetVec2()
+    p[1]=c1:Translate(UTILS.NMToMeters(1), hdg+90):GetVec2()  --c1 is at (angels+15) NM directly behind the carrier. We translate it 1 NM starboard.
-    p[2]=c2:GetVec2()
+    p[2]=c2:Translate(UTILS.NMToMeters(1), hdg+90):GetVec2()  --c2 is 10 NM further behind. Also translated 1 NM starboard.
-    p[3]=c2:Translate(UTILS.NMToMeters(5), hdg-90):GetVec2()
+    p[3]=c2:Translate(UTILS.NMToMeters(7), hdg-90):GetVec2()  --p3 6 NM port of carrier.
-    p[4]=c1:Translate(UTILS.NMToMeters(5), hdg-90):GetVec2()
+    p[4]=c1:Translate(UTILS.NMToMeters(7), hdg-90):GetVec2()  --p4 6 NM port of carrier.
     
+    -- Square zone length=10NM width=6 NM behind the carrier starting at angels+15 NM behind the carrier.
+    -- So stay 0-5 NM (+1 NM error margin) port of carrier.
     zoneHolding=ZONE_POLYGON_BASE:New("CASE II/III Holding Zone", p)
   end
   
   
-  --if bla then
+  if _bla then
-  --  zoneHolding:SmokeZone(SMOKECOLOR.Green)
+    zoneHolding:SmokeZone(SMOKECOLOR.Green)
-  --  bla=false
+    _bla=false
-  --end
+  end
   
   -- Check if player is in holding zone.
   local inholdingzone=unit:IsInZone(zoneHolding)
   
+  -- Check player alt is +-500 feet of assigned pattern alt.
+  local altdiff=playeralt-patternalt
+  local goodalt=math.abs(altdiff)<UTILS.MetersToFeet(500)
+  
+  -- TODO: check if player is flying counter clockwise. AOB<0.
+
+  local text=""
+  
   -- Different cases
   if playerData.holding==true then
     -- Player was in holding zone last time we checked.
+    
     if inholdingzone then
       -- Player is still in holding zone.
       self:I("Player is still in the holding zone. Good job.")
     else
       -- Player left the holding zone.
       self:I("Player just left the holding zone. Come back!")
+      text=text..string.format("You just left the holding zone. Watch your numbers!")
+      playerData.holding=false
     end
+    
   elseif playerData.holding==false then
+  
     -- Player left holding zone
     if inholdingzone then
       -- Player is back in the holding zone.
       self:I("Player is back in the holding zone after leaving it.")
+      text=text..string.format("You are back in the holding zone. Now stay there!")
+      playerData.holding=true
     else
       -- Player is still outside the holding zone.
       self:I("Player still outside the holding zone. What are you doing man?!")
     end
+    
   elseif playerData.holding==nil then
-    -- Player never entered the holding zone 
+    -- Player did not entered the holding zone yet.
+    
     if inholdingzone then
       -- Player arrived in holding zone.
       playerData.holding=true
       self:I("Player entered the holding zone for the first time.")
+      text=text..string.format("You arrived at the holding zone.")
+      if goodalt then
+        text=text..string.format(" Now stay at that altitude.")
+      else
+        if altdiff<0 then
+          text=text..string.format(" But you are too low.")
+        else
+          text=text..string.format(" But you are too high.")
+        end
+        text=text..string.format(" Currently assigned altitude is %d ft.", UTILS.MetersToFeet(patternalt))
+      end
     else
       -- Player did not yet arrive in holding zone.
       self:I("Waiting for player to arrive in the holding zone.")
     end
+    
+  end
+  
+  if text~="" then
+    self:_SendMessageToPlayer(text, 5, playerData, false, "AIRBOSS")
   end
 
 end 
@@ -2276,9 +2366,15 @@ function AIRBOSS:_DirtyUp(playerData)
     -- Debrief.
     self:_AddToSummary(playerData, "Dirty Up", debrief)
     
-    -- Next step: Early Break.
+    -- Next step:
+    if self.case==2 then
+      -- CASE II: Fly to the initial and perform CASE I pattern.
+      playerData.step=AIRBOSS.PatternStep.INITIAL
+    elseif self.case==3 then
+      -- CASE III: Intercept glide slope and follow bullseye (ICLS).
       playerData.step=AIRBOSS.PatternStep.BULLSEYE
     end
+  end
 end
 
 --- Bulls eye.
@@ -2429,6 +2525,7 @@ function AIRBOSS:_CheckForLongDownwind(playerData)
     
     --grade="LIG PATTERN WAVE OFF - CUT 1 PT"
     playerData.lig=true
+    playerData.patternwo=true
     
     -- Next step: Debriefing.
     playerData.step=AIRBOSS.PatternStep.DEBRIEF
@@ -2527,6 +2624,7 @@ function AIRBOSS:_Ninety(playerData)
   elseif relheading>90 and self:_CheckLimits(X, Z, self.Wake) then
     -- Message to player.
     self:_SendMessageToPlayer("You are already at the wake and have not passed the 90! Turn faster next time!", 10, playerData)
+    --TODO: pattern WO?
   end
 end
 
@@ -4063,6 +4161,8 @@ function AIRBOSS:_RequestStraightIn(_unitName)
     local playerData=self.players[_playername] --#AIRBOSS.PlayerData
     
     if playerData then
+      -- TODO: check if landing pattern is full. If so, display message "AIRBOSS: "Pattern is full." and deny step!
+      -- TODO: check if in marshal stack and flag is 0. If not, give message "AIRBOSS: It's not your turn yet!" and deny step! 
       playerData.step=AIRBOSS.PatternStep.COMMENCING
     end
   end
@@ -4338,4 +4438,3 @@ end
 ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-

Moose Development/Moose/Ops/RecoveryTanker.lua

@@ -5,9 +5,8 @@
 -- Features:
 --
 --    * Regular pattern update with respect to carrier positon.
---    * Automatic respawning when tanker runs out of fuel.
+--    * Automatic respawning when tanker runs out of fuel for 24/7 operations.
---    * Tanker can be spawned cold or hot on the carrier or any other airbase or directly in air.
+--    * Tanker can be spawned cold or hot on the carrier or at any other airbase or directly in air.
---    * Tanker can operate 24/7.
 --
 -- Please not that his class is work in progress and in an **alpha** stage.
 --
@@ -34,6 +33,9 @@
 -- @field #number Tupdate Last time the pattern was updated.
 -- @field #number takeoff Takeoff type (cold, hot, air).
 -- @field #number lowfuel Low fuel threshold in percent.
+-- @field #boolean respawn If true, tanker be respawned (default). If false, no respawning will happen.
+-- @field #boolean respawninair If true, tanker will always be respawned in air. This has no impact on the initial spawn setting.
+-- @field #boolean uncontrolledac If true, use and uncontrolled tanker group already present in the mission.
 -- @extends Core.Fsm#FSM
 
 --- Recovery Tanker.
@@ -62,21 +64,24 @@ RECOVERYTANKER = {
   Tupdate         = nil,
   takeoff         = nil,
   lowfuel         = nil,
+  respawn         = nil,
+  respawninair    = nil,
+  uncontrolledac  = nil,
 }
 
 
 --- Class version.
 -- @field #string version
-RECOVERYTANKER.version="0.9.1"
+RECOVERYTANKER.version="0.9.2"
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- TODO list
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 
--- TODO: Possibility to add already present/spawned aircraft, e.g. for warehouse. 
--- TODO: Write documenation.
 -- TODO: Smarter pattern update function. E.g. (small) zone around carrier. Only update position when carrier leaves zone or changes heading?
--- TODO: Maybe rework pattern update implementation altogether to make it smoother. 
+-- TODO: Write documenation.
+-- DONE: Add refueling event/state.
+-- DONE: Possibility to add already present/spawned aircraft, e.g. for warehouse.
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Constructor
@@ -104,7 +109,7 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
   -- Tanker group name.
   self.tankergroupname=tankergroupname
   
-  -- Default parameters.
+  -- Init default parameters.
   self:SetPatternUpdateInterval()
   self:SetAltitude()
   self:SetSpeed()
@@ -112,6 +117,7 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
   self:SetHomeBase(AIRBASE:FindByName(self.carrier:GetName()))
   self:SetTakeoffAir()
   self:SetLowFuelThreshold()
+  self:SetRespawnOnOff()
 
   -----------------------
   --- FSM Transitions ---
@@ -123,10 +129,11 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
   -- Add FSM transitions.
   --                 From State  -->   Event   -->   To State
   self:AddTransition("Stopped",       "Start",      "Running")
+  self:AddTransition("*",             "Refuel",     "Refueling")
+  self:AddTransition("*",             "Run",        "Running")
   self:AddTransition("Running",       "RTB",        "Returning")  
-  self:AddTransition("Running",       "Status",     "*")
+  self:AddTransition("*",             "Status",     "*")
-  self:AddTransition("Returning",     "Status",     "*")
+  self:AddTransition("*",             "Stop",       "Stopped")
-  self:AddTransition("Running",       "Stop",       "Stopped")
 
 
   --- Triggers the FSM event "Start" that starts the recovery tanker. Initializes parameters and starts event handlers.
@@ -138,6 +145,29 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
   -- @param #RECOVERYTANKER self
   -- @param #number delay Delay in seconds.
 
+
+  --- Triggers the FSM event "Refuel" when the tanker is refueling another aircraft.
+  -- @function [parent=#RECOVERYTANKER] Refuel
+  -- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
+  -- @param #RECOVERYTANKER self
+
+  --- Triggers delayed the FSM event "Refuel" when the tanker is refueling another aircraft.
+  -- @function [parent=#RECOVERYTANKER] __Refuel
+  -- @param #RECOVERYTANKER self
+  -- @param #number delay Delay in seconds.
+  -- @param Wrapper.Unit#UNIT receiver Unit receiving fuel from the tanker.
+
+
+  --- Triggers the FSM event "Run". Simply puts the group into "Running" state, e.g. after refueling ended.
+  -- @function [parent=#RECOVERYTANKER] Run
+  -- @param #RECOVERYTANKER self
+
+  --- Triggers delayed the FSM event "Run". Simply puts the group into "Running" state, e.g. after refueling ended.
+  -- @function [parent=#RECOVERYTANKER] __Run
+  -- @param #RECOVERYTANKER self
+  -- @param #number delay Delay in seconds.
+
+
   --- Triggers the FSM event "RTB" that sends the tanker home.
   -- @function [parent=#RECOVERYTANKER] RTB
   -- @param #RECOVERYTANKER self
@@ -147,6 +177,7 @@ function RECOVERYTANKER:New(carrierunit, tankergroupname)
   -- @param #RECOVERYTANKER self
   -- @param #number delay Delay in seconds.
 
+
   --- Triggers the FSM event "Stop" that stops the recovery tanker. Event handlers are stopped.
   -- @function [parent=#RECOVERYTANKER] Stop
   -- @param #RECOVERYTANKER self
@@ -254,6 +285,55 @@ function RECOVERYTANKER:SetTakeoffAir()
 end
 
 
+--- Enable respawning of tanker. Note that this is the default behaviour. 
+-- @param #RECOVERYTANKER self 
+-- @return #RECOVERYTANKER self
+function RECOVERYTANKER:SetRespawnOn()
+  self.respawn=true
+  return self
+end
+
+--- Disable respawning of tanker.
+-- @param #RECOVERYTANKER self 
+-- @return #RECOVERYTANKER self
+function RECOVERYTANKER:SetRespawnOff()
+  self.respawn=false
+  return self
+end
+
+--- Set whether tanker shall be respawned or not.
+-- @param #RECOVERYTANKER self
+-- @param #boolean switch If true (or nil), tanker will be respawned. If false, tanker will not be respawned. 
+-- @return #RECOVERYTANKER self
+function RECOVERYTANKER:SetRespawnOnOff(switch)
+  if switch==nil or switch==true then
+    self.respawn=true
+  else
+    self.respawn=false
+  end
+  return self
+end
+
+--- Tanker will be respawned in air, even it was initially spawned on the carrier.
+-- So only the first spawn will be on the carrier while all subsequent spawns will happen in air.
+-- This allows for undisrupted operations and less problems on the carrier deck.
+-- @param #RECOVERYTANKER self
+-- @return #RECOVERYTANKER self
+function RECOVERYTANKER:SetRespawnInAir()
+  self.respawninair=true
+  return self
+end
+
+--- Use an uncontrolled aircraft already present in the mission rather than spawning a new tanker as initial recovery thanker.
+-- This can be useful when interfaced with, e.g., a warehouse.
+-- The group name is the one specified in the @{#RECOVERYTANKER.New} function.
+-- @param #RECOVERYTANKER self
+-- @return #RECOVERYTANKER self
+function RECOVERYTANKER:SetUseUncontrolledAircraft()
+  self.uncontrolledac=true
+  return self
+end
+
 --- Check if tanker is returning to base.
 -- @param #RECOVERYTANKER self
 -- @return #boolean If true, tanker is returning to base. 
@@ -284,7 +364,9 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
   
   -- Handle events.
   self:HandleEvent(EVENTS.EngineShutdown)
-  --TODO: Handle event crash and respawn.
+  self:HandleEvent(EVENTS.Refueling)
+  self:HandleEvent(EVENTS.RefuelingStop)
+  self:HandleEvent(EVENTS.Crash)
   
   -- Spawn tanker.
   local Spawn=SPAWN:New(self.tankergroupname):InitUnControlled(false)
@@ -295,6 +377,7 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
     -- Carrier heading
     local hdg=self.carrier:GetHeading()
     
+    -- Spawn distance behind the carrier.
     local dist=UTILS.NMToMeters(20)
     
     -- Coordinate behind the carrier
@@ -306,11 +389,32 @@ function RECOVERYTANKER:onafterStart(From, Event, To)
     -- Spawn at coordinate.
     self.tanker=Spawn:SpawnFromCoordinate(Carrier)
     
+    -- Initial route.
     self:_InitRoute(15, 1, 2)
+  else
+  
+    -- Check if an uncontrolled tanker group was requested.
+    if self.useuncontrolled then
+    
+      -- Use an uncontrolled aircraft group.
+      self.tanker=GROUP:FindByName(self.tankergroupname)
+      
+      if self.tanker:IsAlive() then
+        -- Start uncontrolled group.
+        self.tanker:StartUncontrolled()
+      else
+        self:E(string.format("ERROR: No uncontrolled (alive) tanker group with name %s could be found!", self.tankergroupname))
+        return
+      end
+      
     else
     
       -- Spawn tanker at airbase.
       self.tanker=Spawn:SpawnAtAirbase(self.airbase, self.takeoff)
+      
+    end
+    
+    -- Initialize route.
     self:_InitRoute(30, 10, 1)
     
   end  
@@ -331,10 +435,11 @@ function RECOVERYTANKER:onafterStatus(From, Event, To)
   
   -- Get fuel of tanker.
   local fuel=self.tanker:GetFuel()*100
-  local text=string.format("Tanker %s: state=%s fuel=%.1f", self.tanker:GetName(), self:GetState(), fuel)
+  local text=string.format("Recovery tanker %s: state=%s fuel=%.1f", self.tanker:GetName(), self:GetState(), fuel)
   self:I(text)
   
   
+  -- Check if tanker is running and not RTBing.
   if self:IsRunning() then
   
     -- Check fuel.
@@ -350,6 +455,7 @@ function RECOVERYTANKER:onafterStatus(From, Event, To)
         --Time since last pattern update.
         local dt=time-self.Tupdate
         
+        -- Update pattern.
         if dt>self.dTupdate then
           self:_PatternUpdate()
         end
@@ -363,16 +469,6 @@ function RECOVERYTANKER:onafterStatus(From, Event, To)
   self:__Status(-60)
 end
 
---- On after Stop event. Unhandle events and stop status updates. 
--- @param #RECOVERYTANKER self
--- @param #string From From state.
--- @param #string Event Event.
--- @param #string To To state.
-function RECOVERYTANKER:onafterStop(From, Event, To)
-  self:UnHandleEvent(EVENTS.EngineShutdown)
-  --self:UnHandleEvent(EVENTS.Land)
-end
-
 --- On before RTB event. Check if takeoff type is air and if so respawn the tanker and deny RTB transition.
 -- @param #RECOVERYTANKER self
 -- @param #string From From state.
@@ -381,8 +477,12 @@ end
 -- @return #boolean If true, transition is allowed.
 function RECOVERYTANKER:onbeforeRTB(From, Event, To)
 
+  -- Check if spawn in air is activated.
   if self.takeoff==SPAWN.Takeoff.Air then
   
+    -- Check that respawn should happen.
+    if self.respawn then
+  
       -- Debug message.
       local text=string.format("Respawning tanker %s.", self.tanker:GetName())
       self:I(text)  
@@ -397,11 +497,12 @@ function RECOVERYTANKER:onbeforeRTB(From, Event, To)
       -- Deny transition to RTB.
       return false
     end
+  end
   
   return true
 end
 
---- On after RTB event. Send tanker back to carrier.
+--- On after "RTB" event. Send tanker back to carrier.
 -- @param #RECOVERYTANKER self
 -- @param #string From From state.
 -- @param #string Event Event.
@@ -412,17 +513,28 @@ function RECOVERYTANKER:onafterRTB(From, Event, To)
     local text=string.format("Tanker %s returning to airbase %s.", self.tanker:GetName(), self.airbase:GetName())
     self:I(text)
     
-    local waypoints={}
+    -- Waypoint array.
+    local wp={}
     
-    -- Set landingwaypoint
+    -- Set landing waypoint.
-    local wp=self.carrier:GetCoordinate():WaypointAirLanding(300, self.airbase, nil, "Landing")
+    wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil, 300, {}, "Current Position")
-    table.insert(waypoints, wp)
+    wp[2]=self.carrier:GetCoordinate():WaypointAirLanding(300, self.airbase, nil, "Landing on Carrier")
 
     -- Initialize WP and route tanker.
-    self.tanker:WayPointInitialize(waypoints)
+    self.tanker:WayPointInitialize(wp)
   
     -- Set task.
-    self.tanker:Route(waypoints, 1)
+    self.tanker:Route(wp, 1)
+end
+
+--- On after Stop event. Unhandle events and stop status updates. 
+-- @param #RECOVERYTANKER self
+-- @param #string From From state.
+-- @param #string Event Event.
+-- @param #string To To state.
+function RECOVERYTANKER:onafterStop(From, Event, To)
+  self:UnHandleEvent(EVENTS.EngineShutdown)
+  --self:UnHandleEvent(EVENTS.Land)
 end
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -437,7 +549,8 @@ function RECOVERYTANKER:OnEventEngineShutdown(EventData)
 
   local group=EventData.IniGroup --Wrapper.Group#GROUP
   
-  if group:IsAlive() then
+  -- Check if group is alive and should be respawned.
+  if group:IsAlive() and self.respawn then
   
     -- Group name. When spawning it will have #001 attached.
     local groupname=group:GetName()
@@ -450,8 +563,6 @@ function RECOVERYTANKER:OnEventEngineShutdown(EventData)
       -- Respawn tanker.
       self.tanker=group:RespawnAtCurrentAirbase()
 
-      --group:StartUncontrolled(60)
-      
       -- Initial route.
       self:_InitRoute()
     end
@@ -459,6 +570,57 @@ function RECOVERYTANKER:OnEventEngineShutdown(EventData)
   end
 end
 
+--- Event handler for refueling started.
+-- @param #RECOVERYTANKER self
+-- @param Core.Event#EVENTDATA EventData Event data.
+function RECOVERYTANKER:OnEventRefuel(EventData)
+
+  if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
+  
+    -- Unit receiving fuel.
+    local unit=EventData.IniUnit
+    
+    -- Get distance to tanker to check that unit is receiving fuel from this tanker.
+    local dist=unit:GetCoordinate():Get2DDistance(self.tanker:GetCoordinate())
+    
+    -- If distance > 100 meters, this should be another tanker.
+    if dist>100 then
+      return
+    end
+  
+    -- Info message.
+    self:I(string.format("Recovery tanker %s started refueling unit %s", self.tanker:GetName(), unit:GetName()))
+  
+  end
+
+end
+
+--- Event handler for refueling stopped.
+-- @param #RECOVERYTANKER self
+-- @param Core.Event#EVENTDATA EventData Event data.
+function RECOVERYTANKER:OnEventRefuelStop(EventData)
+
+  if EventData and EventData.IniUnit and EventData.IniUnit:IsAlive() then
+  
+    -- Unit receiving fuel.
+    local unit=EventData.IniUnit
+    
+    -- Get distance to tanker to check that unit is receiving fuel from this tanker.
+    local dist=unit:GetCoordinate():Get2DDistance(self.tanker:GetCoordinate())
+    
+    -- If distance > 100 meters, this should be another tanker.
+    if dist>100 then
+      return
+    end
+  
+    -- Info message.
+    self:I(string.format("Recovery tanker %s stopped refueling unit %s", self.tanker:GetName(), unit:GetName()))
+  
+  end
+
+end
+
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- ROUTE functions
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -476,7 +638,7 @@ function RECOVERYTANKER:_InitRoute(dist, Tstart, delay)
   delay=delay or 1
   
   -- Debug message.
-  self:I(string.format("Initializing route for tanker %s.", self.tanker:GetName()))
+  self:I(string.format("Initializing route for recovery tanker %s.", self.tanker:GetName()))
   
   -- Carrier position.
   local Carrier=self.carrier:GetCoordinate()
@@ -510,6 +672,9 @@ end
 -- @param #RECOVERYTANKER self
 function RECOVERYTANKER:_PatternUpdate()
 
+  -- Debug message.
+  self:I(string.format("Updating recovery tanker %s orbit.", self.tanker:GetName()))
+    
   -- Carrier heading.
   local hdg=self.carrier:GetHeading()
   
@@ -517,38 +682,34 @@ function RECOVERYTANKER:_PatternUpdate()
   local Carrier=self.carrier:GetCoordinate()
   
   -- Define race-track pattern.
+  local p0=self.tanker:GetCoordinate():Translate(1000, self.tanker:GetHeading())
   local p1=Carrier:SetAltitude(self.altitude):Translate(self.distStern, hdg)
   local p2=Carrier:SetAltitude(self.altitude):Translate(self.distBow, hdg)
   
   -- Set orbit task.
   local taskorbit=self.tanker:TaskOrbit(p1, self.altitude, self.speed, p2)
   
-  -- New waypoint.
-  local p0=self.tanker:GetCoordinate():Translate(1000, self.tanker:GetHeading())
-  
   -- Debug markers.
   if self.Debug then
-    p0:MarkToAll("p0")
+    p0:MarkToAll("Waypoint P0 " ..self.tanker:GetName())
-    p1:MarkToAll("p1")
+    p1:MarkToAll("Racetrack P1 "..self.tanker:GetName())
-    p2:MarkToAll("p2")
+    p2:MarkToAll("Racetrack P2 "..self.tanker:GetName())
   end
     
-  -- Debug message.
-  self:I(string.format("Updating tanker %s orbit.", self.tanker:GetName()))
-  
   -- Waypoints array.
-  local waypoints={}
+  local wp={}
     
   -- New waypoint with orbit pattern task.
-  local wp=p0:WaypointAirTurningPoint(nil, self.speed, {taskorbit}, "Tanker Orbit")      
+  wp[1]=self.tanker:GetCoordinate():WaypointAirTurningPoint(nil , self.speed, {}, "Current Position")
-  waypoints[1]=wp
+  wp[2]=p0:WaypointAirTurningPoint(nil, self.speed, {taskorbit}, "Tanker Orbit")
   
   -- Initialize WP and route tanker.
-  self.tanker:WayPointInitialize(waypoints)
+  self.tanker:WayPointInitialize(wp)
   
   -- Task combo.
   local tasktanker = self.tanker:EnRouteTaskTanker()
-  local taskroute  = self.tanker:TaskRoute(waypoints)
+  local taskroute  = self.tanker:TaskRoute(wp)
+  -- Note that tasktanker has to come first. Otherwise it does not work!
   local taskcombo  = self.tanker:TaskCombo({tasktanker, taskroute})
 
   -- Set task.

Moose Development/Moose/Ops/RescueHelo.lua

@@ -1,11 +1,13 @@
 --- **Functional** - (R2.5) - Rescue helo.
 -- 
--- Recue helicopter on an aircraft carrier.
+-- Recue helicopter for carrier operations.
 --
 -- Features:
 --
---    * Formation with carrier.
+--    * Close formation with carrier.
---    * Automatic respawning on empty fuel.
+--    * Carrier can have any number of waypoints.
+--    * Automatic respawning on empty fuel for 24/7 operations.
+--    * Automatic rescuing of crashed or ejected units in the vicinity.
 --
 -- Please not that his class is work in progress and in an **alpha** stage.
 --
@@ -24,13 +26,14 @@
 -- @field #string helogroupname Name of the late activated helo template group.
 -- @field Wrapper.Group#GROUP helo Helo group.
 -- @field #number takeoff Takeoff type.
--- @field Wrapper.Airbase#AIRBASE airbase The airbase object of the carrier.
+-- @field Wrapper.Airbase#AIRBASE airbase The airbase object acting as home base of the helo.
 -- @field Core.Set#SET_GROUP followset Follow group set.
 -- @field AI.AI_Formation#AI_FORMATION formation AI_FORMATION object.
 -- @field #number lowfuel Low fuel threshold of helo in percent.
 -- @field #number altitude Altitude of helo in meters.
 -- @field #number offsetX Offset in meters to carrier in longitudinal direction.
 -- @field #number offsetZ Offset in meters to carrier in latitudinal direction.
+-- @field Core.Zone#ZONE_RADIUS rescuezone Zone around the carrier in which helo will rescue crashed or ejected units.
 -- @extends Core.Fsm#FSM
 
 --- Rescue Helo
@@ -58,20 +61,22 @@ RESCUEHELO = {
   altitude      = nil,
   offsetX       = nil,
   offsetZ       = nil,
+  rescuezone    = nil,
 }
 
 --- Class version.
 -- @field #string version
-RESCUEHELO.version="0.9.1"
+RESCUEHELO.version="0.9.2"
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- TODO list
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 
+-- TODO: Add option to stop carrier while rescue operation is in progress.
 -- TODO: Possibility to add already present/spawned aircraft, e.g. for warehouse.
 -- TODO: Write documenation.
--- TODO: Add rescue event when aircraft crashes.
+-- DONE: Add rescue event when aircraft crashes.
--- TODO: Make offset input parameter.
+-- DONE: Make offset input parameter.
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Constructor
@@ -87,6 +92,7 @@ function RESCUEHELO:New(carrierunit, helogroupname)
   -- Inherit everthing from FSM class.
   local self = BASE:Inherit(self, FSM:New()) -- #RESCUEHELO
   
+  -- Catch case when just the unit name is passed.
   if type(carrierunit)=="string" then
     self.carrier=UNIT:FindByName(carrierunit)
   else
@@ -99,9 +105,6 @@ function RESCUEHELO:New(carrierunit, helogroupname)
   -- Helo group name.
   self.helogroupname=helogroupname
     
-  -- Home airbase of helo
-  self.airbase=AIRBASE:FindByName(self.carrier:GetName())
-  
   -- Init defaults.  
   self:SetHomeBase(AIRBASE:FindByName(self.carrier:GetName()))
   self:SetTakeoffHot()
@@ -109,6 +112,7 @@ function RESCUEHELO:New(carrierunit, helogroupname)
   self:SetAltitude()
   self:SetOffsetX()
   self:SetOffsetZ()
+  self:SetRescueZone()
 
   -----------------------
   --- FSM Transitions ---
@@ -120,10 +124,11 @@ function RESCUEHELO:New(carrierunit, helogroupname)
   -- Add FSM transitions.
   --                 From State  -->   Event   -->   To State
   self:AddTransition("Stopped",       "Start",      "Running")
+  self:AddTransition("Running",       "Rescue",     "Rescuing")
   self:AddTransition("Running",       "RTB",        "Returning")
-  self:AddTransition("Returning",     "Status",     "*")
+  self:AddTransition("*",             "Run",        "Running")
-  self:AddTransition("Running",       "Status",     "*")
+  self:AddTransition("*",             "Status",     "*")
-  self:AddTransition("Running",       "Stop",       "Stopped")
+  self:AddTransition("*",             "Stop",       "Stopped")
 
 
   --- Triggers the FSM event "Start" that starts the rescue helo. Initializes parameters and starts event handlers.
@@ -135,6 +140,17 @@ function RESCUEHELO:New(carrierunit, helogroupname)
   -- @param #RESCUEHELO self
   -- @param #number delay Delay in seconds.
 
+  --- Triggers the FSM event "Rescue" that sends the helo on a rescue mission to a specifc coordinate.
+  -- @function [parent=#RESCUEHELO] Rescue
+  -- @param #RESCUEHELO self
+  -- @param Core.Point#COORDINATE RescueCoord Coordinate where the resue mission takes place.
+
+  --- Triggers the delayed FSM event "Rescue" that sends the helo on a rescue mission to a specifc coordinate.
+  -- @function [parent=#RESCUEHELO] __Rescue
+  -- @param #RESCUEHELO self
+  -- @param #number delay Delay in seconds.
+  -- @param Core.Point#COORDINATE RescueCoord Coordinate where the resue mission takes place.
+
   --- Triggers the FSM event "RTB" that sends the helo home.
   -- @function [parent=#RESCUEHELO] RTB
   -- @param #RESCUEHELO self
@@ -144,6 +160,15 @@ function RESCUEHELO:New(carrierunit, helogroupname)
   -- @param #RESCUEHELO self
   -- @param #number delay Delay in seconds.
 
+  --- Triggers the FSM event "Run".
+  -- @function [parent=#RESCUEHELO] Run
+  -- @param #RESCUEHELO self
+
+  --- Triggers the delayed FSM event "Run".
+  -- @function [parent=#RESCUEHELO] __Run
+  -- @param #RESCUEHELO self
+  -- @param #number delay Delay in seconds.
+
   --- Triggers the FSM event "Stop" that stops the rescue helo. Event handlers are stopped.
   -- @function [parent=#RESCUEHELO] Stop
   -- @param #RESCUEHELO self
@@ -178,12 +203,21 @@ function RESCUEHELO:SetHomeBase(airbase)
   return self
 end
 
+--- Set rescue zone radius. Crashed or ejected units inside this radius of the carrier will be rescued.
+-- @param #RESCUEHELO self
+-- @param #number radius Radius of rescue zone in meters. Default is 100000 m = 100 km.
+-- @return #RESCUEHELO self
+function RESCUEHELO:SetRescueZone(radius)
+  self.rescuezone=ZONE_UNIT:New("Rescue Zone", self.carrier, radius or 100000)
+  return self
+end
+
 --- Set takeoff type.
 -- @param #RESCUEHELO self
--- @param #number takeofftype Takeoff type.
+-- @param #number takeofftype Takeoff type. Default SPAWN.Takeoff.Hot.
 -- @return #RESCUEHELO self
 function RESCUEHELO:SetTakeoff(takeofftype)
-  self.takeoff=takeofftype
+  self.takeoff=takeofftype or SPAWN.Takeoff.Hot
   return self
 end
 
@@ -239,20 +273,109 @@ function RESCUEHELO:SetOffsetZ(distance)
 end
 
 
---- Check if tanker is returning to base.
+--- Check if helo is returning to base.
 -- @param #RESCUEHELO self
 -- @return #boolean If true, helo is returning to base. 
 function RESCUEHELO:IsReturning()
   return self:is("Returning")
 end
 
---- Check if tanker is operating.
+--- Check if helo is operating.
 -- @param #RESCUEHELO self
 -- @return #boolean If true, helo is operating. 
 function RESCUEHELO:IsRunning()
   return self:is("Running")
 end
 
+--- Check if helo is on a rescue mission.
+-- @param #RESCUEHELO self
+-- @return #boolean If true, helo is rescuing somebody. 
+function RESCUEHELO:IsRescuing()
+  return self:is("Rescuing")
+end
+
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+-- EVENT functions
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+--- Handle landing event of rescue helo.
+-- @param #RESCUEHELO self
+-- @param Core.Event#EVENTDATA EventData Event data.
+function RESCUEHELO:OnEventLand(EventData)
+  local group=EventData.IniGroup --Wrapper.Group#GROUP
+  
+  if group:IsAlive() then
+    local groupname=group:GetName()
+  
+    if groupname:match(self.helogroupname) then
+    
+      -- Respawn the Helo.
+      self:I(string.format("Respawning rescue helo group %s at home base.", groupname))
+      
+      if self.takeoff==SPAWN.Takeoff.Air then
+        
+        self:E("ERROR: Rescue helo %s landed. This should not happen for Takeoff=Air!", groupname)
+      
+      else
+      
+        -- Respawn helo at current airbase.
+        self.helo=group:RespawnAtCurrentAirbase()
+        
+      end
+      
+      -- Restart the formation.
+      self:__Run(10)
+    end
+  end
+end
+
+--- A unit crashed or a player ejected.
+-- @param #RESCUEHELO self
+-- @param Core.Event#EVENTDATA EventData Event data.
+function RESCUEHELO:_OnEventCrashOrEject(EventData)
+  self:F2({eventdata=EventData})
+  
+  -- NOTE: Careful here. Eject and crash events will probably happen for the same unit!
+  
+  -- Check that there is an initiating unit in the event data.
+  if EventData and EventData.IniUnit then
+
+    -- Crashed or ejected unit.
+    local unit=EventData.IniUnit  
+    local unitname=tostring(EventData.IniUnitName)
+    
+    -- Check that it was not the rescue helo itself that crashed.
+    if EventData.IniGroupName~=self.helo:GetName() then
+    
+      -- Debug.
+      self:T(string.format("Unit %s crashed or ejected.", unitname))
+    
+      -- Unit "alive" and in our rescue zone.
+      if unit:IsAlive() and unit:IsInZone(self.rescuezone) then
+      
+        -- Get coordinate of crashed unit.
+        local coord=unit:GetCoordinate()
+        
+        -- Debug mark on map.
+        coord:MarkToCoalition(string.format("Crash site of unit %s.", unitname), self.helo:GetCoalition())
+      
+        -- Only rescue if helo is "running" and not, e.g., rescuing already.
+        if self:IsRunning() then
+          self:Rescue(coord)
+        end
+      
+      end
+      
+    else
+    
+      self:I(string.format("Rescue helo %s crashed!", unitname))
+    
+    end
+    
+  end
+  
+end
+
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- FSM states
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -270,7 +393,8 @@ function RESCUEHELO:onafterStart(From, Event, To)
   -- Handle events.
   --self:HandleEvent(EVENTS.Birth)
   self:HandleEvent(EVENTS.Land)
-  --self:HandleEvent(EVENTS.Crash)
+  self:HandleEvent(EVENTS.Crash, self._OnEventCrashOrEject)
+  self:HandleEvent(EVENTS.Ejection, self._OnEventCrashOrEject)
   
   -- Delay before formation is started.
   local delay=120  
@@ -356,7 +480,7 @@ function RESCUEHELO:onafterStatus(From, Event, To)
   self:I(text)
 
   -- If fuel < threshold ==> send helo to home base!  
-  if fuel<self.lowfuel then
+  if fuel<self.lowfuel and self:IsRunning() then
     self:RTB()
   end
   
@@ -364,47 +488,60 @@ function RESCUEHELO:onafterStatus(From, Event, To)
   self:__Status(-60)
 end
 
---- On after Stop event. Unhandle events and stop status updates.
+--- On after "Run" event. FSM will go to "Running" state. If formation is topped, it will be started again.
 -- @param #RESCUEHELO self
 -- @param #string From From state.
 -- @param #string Event Event.
 -- @param #string To To state.
-function RESCUEHELO:onafterStop(From, Event, To)
+function RESCUEHELO:onafterRun(From, Event, To)
-  --self:UnHandleEvent(EVENTS.Birth)
+  
-  self:UnHandleEvent(EVENTS.Land)
+  -- Restart formation if stopped.
+  if self.formation:Is("Stopped") then
+    self.formation:Start()
+  end
+  
 end
 
---- Handle landing event of rescue helo.
+--- On after "Rescue" event. Helo will fly to the given coordinate, orbit there for 5 minutes and then return to the carrier.
 -- @param #RESCUEHELO self
--- @param Core.Event#EVENTDATA EventData Event data.
+-- @param #string From From state.
-function RESCUEHELO:OnEventLand(EventData)
+-- @param #string Event Event.
-  local group=EventData.IniGroup --Wrapper.Group#GROUP
+-- @param #string To To state.
+-- @param Core.Point#COORDINATE RescueCoord Coordinate where the rescue should happen
+function RESCUEHELO:onafterRescue(From, Event, To, RescueCoord)
 
-  if group:IsAlive() then
+  -- Debug message.
-    local groupname=group:GetName()
+  local text=string.format("Helo %s is send to rescue mission.", self.helo:GetName())
+  self:I(text)
   
-    if groupname:match(self.helogroupname) then
+  -- Waypoint array.
+  local wp={}
   
-      -- Respawn the Helo.
+  --local RescueTask=self.helo:TaskControlled(self.helo:TaskOrbitCircle(20, 2, RescueCoord), self.helo:TaskCondition(nil, nil, nil, nil, 5*60, nil))
-      self:I(string.format("Respawning rescue helo group group %s at home base.", groupname))
    
-      if self.takeoff==SPAWN.Takeoff.Air then
+  -- Rescue task: Orbit at crash site for 5 minutes.
+  local RescueTask={}
+  RescueTask.id="ControlledTask"
+  RescueTask.params={}
+  RescueTask.params.task=self.helo:TaskOrbit(RescueCoord, 20, 2)
+  RescueTask.params.stopCondition={duration=300}
   
-        self:E("ERROR: Rescue helo %s landed. This should not happen for Takeoff=Air!", groupname)
+  -- Set Waypoints.
+  wp[1]=self.helo:GetCoordinate():WaypointAirTurningPoint(nil, 200, {}, "Current Position")
+  wp[2]=RescueCoord:SetAltitude(50):WaypointAirTurningPoint(nil, 200, {RescueTask}, "Crash Site")
+  wp[3]=self.airbase:GetCoordinate():SetAltitude(70):WaypointAirLanding(200, self.airbase, {}, "Land at Home Base")
 
-      else
+  -- Initialize WP and route tanker.
+  self.helo:WayPointInitialize(wp)
 
-        -- Respawn helo at current airbase.
+  -- Set task.
-        self.helo=group:RespawnAtCurrentAirbase()
+  self.helo:Route(wp, 1)
   
-      end
+  -- Stop formation.
-      
+  self.formation:Stop()
-      -- Restart the formation.
-      self.formation:__Start(10)
-    end
-  end
 end
 
+
 --- On before RTB event. Check if takeoff type is air and if so respawn the helo and deny RTB transition.
 -- @param #RESCUEHELO self
 -- @param #string From From state.
@@ -414,6 +551,7 @@ end
 function RESCUEHELO:onbeforeRTB(From, Event, To)
 
   if self.takeoff==SPAWN.Takeoff.Air then
+    -- For takeoff in air, we just respawn the helo with full fuel.
   
     -- Debug message.
     local text=string.format("Respawning rescue helo group %s in air.", self.helo:GetName())
@@ -438,25 +576,38 @@ end
 function RESCUEHELO:onafterRTB(From, Event, To)
 
     -- Debug message.
-    local text=string.format("Helo %s returning to airbase %s.", self.helo:GetName(), self.airbase:GetName())
+    local text=string.format("Rescue helo %s is returning to airbase %s.", self.helo:GetName(), self.airbase:GetName())
     self:I(text)
     
-    local waypoints={}
+    -- Waypoint array.
+    local wp={}
     
-    -- Set landingwaypoint
+    -- Set landing waypoint at home base.
-    local wp=self.carrier:GetCoordinate():WaypointAirLanding(300, self.airbase, nil, "Landing")
+    wp[1]=self.helo:GetCoordinate():WaypointAirTurningPoint(nil, 300, {}, "Current Position")
-    table.insert(waypoints, wp)
+    wp[2]=self.airbase:GetCoordinate():SetAltitude(70):WaypointAirLanding(300, self.airbase, {}, "Landing at Home Base")
 
     -- Initialize WP and route tanker.
-    self.helo:WayPointInitialize(waypoints)
+    self.helo:WayPointInitialize(wp)
   
     -- Set task.
-    self.helo:Route(waypoints, 1)
+    self.helo:Route(wp, 1)
     
     -- Stop formation.
     self.formation:Stop()
 end
 
+--- On after Stop event. Unhandle events and stop status updates.
+-- @param #RESCUEHELO self
+-- @param #string From From state.
+-- @param #string Event Event.
+-- @param #string To To state.
+function RESCUEHELO:onafterStop(From, Event, To)
+  self:UnHandleEvent(EVENTS.Land)
+  self:UnHandleEvent(EVENTS.Crash)
+  self:UnHandleEvent(EVENTS.Ejection)
+end
+
+
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