Completed a first version of an escort follow function!!!

And made a test mission for it.

Moose/Base.lua

@@ -25,7 +25,7 @@ local _TraceClass = {
 	--CLEANUP = true,
 	--MENU_CLIENT = true,
 	--MENU_CLIENT_COMMAND = true,
-	--ESCORT = true,
+	ESCORT = true,
 	}
 
 --- The BASE Class

Moose/Client.lua

@@ -34,9 +34,10 @@ CLIENT = {
 
 
 --- Use this method to register new Clients within the MOF.
--- @param string ClientName Name of the Group as defined within the Mission Editor. The Group must have a Unit with the type Client.
--- @param string ClientBriefing Text that describes the briefing of the mission when a Player logs into the Client.
--- @return CLIENT
+-- @param #CLIENT self
+-- @param #string ClientName Name of the Group as defined within the Mission Editor. The Group must have a Unit with the type Client.
+-- @param #string ClientBriefing Text that describes the briefing of the mission when a Player logs into the Client.
+-- @return #CLIENT
 -- @usage
 -- -- Create new Clients.
 --	local Mission = MISSIONSCHEDULER.AddMission( 'Russia Transport Troops SA-6', 'Operational', 'Transport troops from the control center to one of the SA-6 SAM sites to activate their operation.', 'Russia' )
@@ -169,7 +170,7 @@ function CLIENT:GetClientGroupName()
 end
 
 --- Returns the Unit of the @{CLIENT}.
--- @return Unit
+-- @return Unit#UNIT
 function CLIENT:GetClientGroupUnit()
 	self:F()
 

Moose/Escort.lua

@@ -55,7 +55,8 @@ function ESCORT:New( EscortClient, EscortGroup, EscortName )
    -- Escort Navigation  
   self.EscortMenuReportNavigation = MENU_CLIENT:New( self.EscortClient, "Navigation", self.EscortMenu )
   self.EscortMenuHoldPosition = MENU_CLIENT_COMMAND:New( self.EscortClient, "Hold Position and Stay Low", self.EscortMenuReportNavigation, ESCORT._HoldPosition, { ParamSelf = self } )
-  self.EscortMenuHoldPosition = MENU_CLIENT_COMMAND:New( self.EscortClient, "Join-Up and Hold Position NearBy", self.EscortMenuReportNavigation, ESCORT._HoldPositionNearBy, { ParamSelf = self } )  
+  self.EscortMenuJoinUpAndHoldPosition = MENU_CLIENT_COMMAND:New( self.EscortClient, "Join-Up and Hold Position NearBy", self.EscortMenuReportNavigation, ESCORT._HoldPositionNearBy, { ParamSelf = self } )  
+  self.EscortMenuJoinUpAndFollow = MENU_CLIENT_COMMAND:New( self.EscortClient, "Join-Up and Follow", self.EscortMenuReportNavigation, ESCORT._JoinUpAndFollow, { ParamSelf = self } )  
 
   -- Report Targets
   self.EscortMenuReportNearbyTargets = MENU_CLIENT:New( self.EscortClient, "Report targets", self.EscortMenu )
@@ -65,6 +66,7 @@ function ESCORT:New( EscortClient, EscortGroup, EscortName )
   -- Scanning Targets
   self.EscortMenuScanForTargets = MENU_CLIENT:New( self.EscortClient, "Scan targets", self.EscortMenu )
   self.EscortMenuReportNearbyTargetsOn = MENU_CLIENT_COMMAND:New( self.EscortClient, "Scan targets 30 seconds", self.EscortMenuScanForTargets, ESCORT._ScanTargets30Seconds, { ParamSelf = self, ParamScanDuration = 30 } )
+  self.EscortMenuReportNearbyTargetsOn = MENU_CLIENT_COMMAND:New( self.EscortClient, "Scan targets 60 seconds", self.EscortMenuScanForTargets, ESCORT._ScanTargets60Seconds, { ParamSelf = self, ParamScanDuration = 30 } )
 
   -- Attack Targets
   self.EscortMenuAttackNearbyTargets = MENU_CLIENT:New( self.EscortClient, "Attack nearby targets", self.EscortMenu )
@@ -138,6 +140,20 @@ function ESCORT._HoldPositionNearBy( MenuParam )
   MESSAGE:New( "Rejoining to your location. Please hold at your location.", MenuParam.ParamSelf.EscortName, 10, "ESCORT/HoldPositionNearBy" ):ToClient( EscortClient )
 end
 
+--- @param #MENUPARAM MenuParam
+function ESCORT._JoinUpAndFollow( MenuParam )
+
+  local self = MenuParam.ParamSelf
+  local EscortGroup = MenuParam.ParamSelf.EscortGroup
+  local EscortClient = MenuParam.ParamSelf.EscortClient
+  
+  self.CT1 = 0
+  self.GT1 = 0
+  self.FollowFunction = routines.scheduleFunction( self._Follower, { self }, timer.getTime() + 1, 1 )
+  EscortGroup:MessageToClient( "Rejoining and following orders ...", 10, EscortClient )
+end
+
+
 function ESCORT._ReportNearbyTargets( MenuParam )
   MenuParam.ParamSelf:T()
   
@@ -280,6 +296,63 @@ function ESCORT._CancelCurrentTask( MenuParam )
   MESSAGE:New( "Cancelling with current orders, continuing our mission.", MenuParam.ParamSelf.EscortName, 10, "ESCORT/CancelCurrentTask" ):ToClient( EscortClient )
 end
 
+--- @param Escort#ESCORT self
+function ESCORT:_Follower()
+  self:F()
+
+  local ClientUnit = self.EscortClient:GetClientGroupUnit()
+  local GroupUnit = self.EscortGroup:GetUnit( 1 )
+
+  if self.EscortGroup:IsAlive() and ClientUnit:IsAlive() then
+    if self.CT1 == 0 and self.GT1 == 0 then
+      self.CV1 = ClientUnit:GetPositionVec3()
+      self.CT1 = timer.getTime()
+      self.GV1 = GroupUnit:GetPositionVec3()
+      self.GT1 = timer.getTime()
+      
+    else
+      local CT1 = self.CT1
+      local CT2 = timer.getTime()
+      local CV1 = self.CV1
+      local CV2 = ClientUnit:GetPositionVec3()
+      
+      local CD = ( ( CV2.x - CV1.x )^2 + ( CV2.y - CV1.y )^2 + ( CV2.z - CV1.z )^2 ) ^ 0.5
+      local CT = CT2 - CT1
+      
+      local CS = ( 3600 / CT ) * ( CD / 1000 )
+      
+      self:T( { "Client:", CS, CD, CT, CV2, CV1, CT2, CT1 } )
+      
+      local GT1 = self.GT1
+      local GT2 = timer.getTime()
+      local GV1 = self.GV1
+      local GV2 = GroupUnit:GetPositionVec3()
+      
+      local GD = ( ( GV2.x - GV1.x )^2 + ( GV2.y - GV1.y )^2 + ( GV2.z - GV1.z )^2 ) ^ 0.5
+      local GT = GT2 - GT1
+      
+      local GS = ( 3600 / GT ) * ( GD / 1000 )
+      
+      self:T( { "Group:", GS, GD, GT, GV2, GV1, GT2, GT1 } )
+      
+      -- Measure distance between client and group
+      local D = ( ( CV2.x - GV2.x )^2 + ( CV2.y - GV2.y )^2 + ( CV2.z - GV2.z )^2 ) ^ 0.5 - 200
+      
+      local S = ( 3600 / 30 ) * ( D / 1000 ) -- We use a 2 second buffer to adjust the speed
+      local A = ( CS - GS ) + S -- Accelleration required = Client Speed - Group Speed + Speed to overcome distance (with 10 second time buffer)
+      local Speed = A -- Final speed is the current Group speed + Accelleration
+
+      self:T( { "Speed:", S, A, Speed } )
+
+      -- Now route the escort to the desired point with the desired speed.
+      self.EscortGroup:TaskRouteToVec3( CV2, Speed )
+    end
+  else
+    routines.removeFunction( self.FollowFunction )
+  end
+
+end
+
 
 function ESCORT:_ScanForTargets()
 	self:F()

Moose/Group.lua

@@ -199,9 +199,9 @@ end
 
 
 --- Gets the DCS Unit.
--- @param self
+-- @param #GROUP self
 -- @param #number UnitNumber The number of the Unit to be returned.
--- @return #Unit The DCS Unit.
+-- @return Unit#UNIT The DCS Unit.
 function GROUP:GetUnit( UnitNumber )
 	self:F( { self.GroupName, UnitNumber } )
 	return UNIT:New( self.DCSGroup:getUnit( UnitNumber ) )
@@ -558,7 +558,7 @@ end
 
 --- Return a Misson task to follow a given route.
 -- @param #GROUP self
--- @param #table GoPoints A table of Route Points.
+-- @param #table Points A table of Route Points.
 -- @return #DCSTask 
 function GROUP:TaskMission( Points )
 	self:F( Points )
@@ -570,6 +570,39 @@ function GROUP:TaskMission( Points )
   return DCSTask
 end
 
+--- Make the group to fly to a given point and hover.
+-- @param #GROUP self
+-- @param #Vec3 Point The destination point.
+-- @param #number Speed The speed to travel.
+-- @return #GROUP self
+function GROUP:TaskRouteToVec3( Point, Speed )
+  self:F( { Point, Speed } )
+
+  local GroupPoint = self:GetUnit( 1 ):GetPositionVec3()
+  
+  local PointFrom = {}
+  PointFrom.x = GroupPoint.x
+  PointFrom.y = GroupPoint.z
+  PointFrom.alt = GroupPoint.y
+  PointFrom.type = "Turning Point"
+
+  local PointTo = {}
+  PointTo.x = Point.x
+  PointTo.y = Point.z
+  PointTo.alt = Point.y
+  PointTo.type = "Turning Point"
+  PointTo.speed = Speed
+  
+  local Points = { PointFrom, PointTo }
+  
+  self:T( Points )
+  
+  self:Route( Points )
+
+  return self
+end
+
+
 
 --- Make the group to follow a given route.
 -- @param #GROUP self

Moose/Unit.lua

@@ -1,5 +1,5 @@
 --- UNIT Classes
--- @module UNIT
+-- @module Unit
 
 Include.File( "Routines" )
 Include.File( "Base" )

Test Missions/lua/MOOSE_Escort_Test_Follow.lua

@@ -0,0 +1,19 @@
+Include.File( "Mission" )
+Include.File( "Client" )
+Include.File( "Escort" )
+
+
+do
+  local EscortClient = CLIENT:New( "Lead Helicopter", "Fly around and observe the behaviour of the escort helicopter" )  
+  local EscortGroup = GROUP:NewFromName( "Escort Helicopter" )
+
+  local Escort = ESCORT:New( EscortClient, EscortGroup, "Escort Test" )
+end
+
+
+-- MISSION SCHEDULER STARTUP
+MISSIONSCHEDULER.Start()
+MISSIONSCHEDULER.ReportMenu()
+MISSIONSCHEDULER.ReportMissionsHide()
+
+env.info( "Test Mission loaded" )