Merge branch 'master' into missile_gbu

addons/dragon/CfgAmmo.hpp

@@ -38,9 +38,8 @@ class CfgAmmo {
         EGVAR(vehicle_damage,incendiary) = 1.0;
 
         class ace_missileguidance {
-            minDeflection = 0;
+            pitchRate = 0;
-            maxDeflection = 0;
+            yawRate = 0;
-            incDeflection = 0;
 
             canVanillaLock = 0;
 
@@ -51,6 +50,9 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
+            defaultNavigationType = "LineOfSight";
+            navigationTypes[] = { "LineOfSight" };
+
             seekLastTargetPos = 0;
             seekerAngle = 30;
             seekerAccuracy = 1;
@@ -82,6 +84,9 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
+            pitchRate = 0;
+            yawRate = 0;
+
             // Guidance type for munitions
             defaultSeekerType = "SACLOS";
             seekerTypes[] = { "SACLOS" };

addons/hellfire/CfgAmmo.hpp

@@ -26,9 +26,8 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0.0005;      // Minium flap deflection for guidance
+            pitchRate = 30; // degrees per second
-            maxDeflection = 0.01;       // Maximum flap deflection for guidance
+            yawRate = 30;
-            incDeflection = 0.0005;      // The incrmeent in which deflection adjusts.
 
             canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 
@@ -39,6 +38,9 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
+            defaultNavigationType = "Direct";
+            navigationTypes[] = { "Direct", "ZeroEffortMiss" };
+
             seekLastTargetPos = 1;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 70;           // Angle in front of the missile which can be searched
             seekerAccuracy = 1;         // seeker accuracy multiplier
@@ -49,6 +51,19 @@ class CfgAmmo {
             // Attack profile type selection
             defaultAttackProfile = "hellfire";
             attackProfiles[] = {"hellfire", "hellfire_hi", "hellfire_lo"};
+
+            class navigationStates {
+                class initial {
+                    transitionCondition = QFUNC(midCourseTransition);
+                    navigationType = "Direct";
+                };
+                class terminal {
+                    transitionCondition = "";
+                    navigationType = "ZeroEffortMiss";
+                };
+                // transitions from initial -> termimal
+                states[] = {"initial", "terminal"};
+            };
         };
     };
     class ACE_Hellfire_AGM114N: ACE_Hellfire_AGM114K {
@@ -75,8 +90,8 @@ class CfgAmmo {
             canVanillaLock = 1;
             enabled = 1; // Missile Guidance must be explicitly enabled
             seekLastTargetPos = 0;
-            defaultSeekerType = "ARH";
+            defaultSeekerType = "MillimeterWaveRadar";
-            seekerTypes[] = { "ARH" };
+            seekerTypes[] = { "MillimeterWaveRadar" };
             defaultSeekerLockMode = "LOBL";
             seekerLockModes[] = { "LOBL" };
 

addons/hellfire/XEH_PREP.hpp

@@ -2,3 +2,4 @@ LOG("prep");
 PREP(attackProfile);
 PREP(getAttackProfileSettings);
 PREP(setupVehicle);
+PREP(midCourseTransition);

addons/hellfire/functions/fnc_attackProfile.sqf

@@ -18,80 +18,99 @@
  */
 
 params ["_seekerTargetPos", "_args", "_attackProfileStateParams"];
-_args params ["_firedEH", "_launchParams", "", "", "_stateParams"];
+_args params ["_firedEH", "_launchParams", "_flightParams", "", "_stateParams"];
 _stateParams params ["", "_seekerStateParams"];
 _launchParams params ["","_targetLaunchParams","_seekerType"];
 
-_targetLaunchParams params ["", "", "_launchPos"];
+_targetLaunchParams params ["", "", "_launchPos", "_launchDir"];
 _firedEH params ["","","","","","","_projectile"];
 
 // Get state params:
 if (_attackProfileStateParams isEqualTo []) then {
     _this call FUNC(getAttackProfileSettings);
 };
-_attackProfileStateParams params ["_attackStage", "_configLaunchHeightClear"];
+_attackProfileStateParams params ["_attackStage", "_configLaunchHeightClear", "_missileStateData"];
-
 
 private _projectilePos = getPosASL _projectile;
 private _distanceFromLaunch2d = _launchPos distance2d _projectilePos;
 private _heightAboveLaunch = (_projectilePos select 2) - (_launchPos select 2);
 
 // Add height depending on distance for compensate
-private _returnTargetPos = nil;
+private _returnTargetPos = _seekerTargetPos;
+if (_returnTargetPos isEqualTo [0, 0, 0]) then {
+    private _initialDistanceToTarget = 8000;
+    _returnTargetPos = _launchPos vectorAdd (_launchDir vectorMultiply _initialDistanceToTarget);
+};
+
+private _closingRate = vectorMagnitude velocity _projectile;
+// subtract 500 meters to account for the fact that we don't want to be at the perfect pitch exactly when we cross the target
+// 500 seemed good in testing
+private _timeToGo = ((_projectilePos distance2d _seekerTargetPos) - 500) / _closingRate;
+
+// we could do stuff like desired attack angle, but I'm not going that far today
+private _los = _projectilePos vectorFromTo _seekerTargetPos; 
+
+_flightParams params ["_pitchRate", "_yawRate"];
+
+private _angleToTarget = acos ((vectorDir _projectile) vectorCos _los);
+private _atMinRotationAngle = _angleToTarget >= (_pitchRate * _timeToGo);
 
 switch (_attackStage) do {
     case STAGE_LAUNCH: { // Gain height quickly to pass terrain mask
-        _returnTargetPos = _projectilePos getPos [100, getDir _projectile];
+        _missileStateData params ["_heightBeforeStateSwitch", "_initialDistanceToTarget"];
-        _returnTargetPos set [2, (_projectilePos select 2) + 36.4]; // 100 and 36.4 gives a 20 deg angle
+
+        _returnTargetPos set [2, _heightBeforeStateSwitch + (_initialDistanceToTarget * sin 20)]; // 100 and 36.4 gives a 20 deg angle
 
         if (_heightAboveLaunch > _configLaunchHeightClear) then {
             _attackProfileStateParams set [0, STAGE_SEEK_CRUISE];
+
+            _attackProfileStateParams set [2, [_projectilePos select 2, _seekerTargetPos distance2d _projectilePos]];
             TRACE_2("New Stage: STAGE_SEEK_CRUISE",_distanceFromLaunch2d,_heightAboveLaunch);
         };
+
+        if (_atMinRotationAngle) then {
+            _attackProfileStateParams set [0, STAGE_ATTACK_TERMINAL];
+
+            _attackProfileStateParams set [2, [_projectilePos select 2, _seekerTargetPos distance2d _projectilePos]];
+            TRACE_2("New Stage: STAGE_ATTACK_TERMINAL",_distanceToTarget2d,_currentHeightOverTarget);
+        };
     };
     case STAGE_SEEK_CRUISE: { // Slowly gain altitude while searching for target
+        _missileStateData params ["_heightBeforeStateSwitch", "_initialDistanceToTarget"];
+        
         // Before 4000 cruise at 5.7 degrees up, then level out
-        private _cruiseHeight = linearConversion [3000, 5000, _distanceFromLaunch2d, 10, 0, true];
+        _returnTargetPos set [2, _heightBeforeStateSwitch + (_initialDistanceToTarget * sin 5.7)];
-
+        
-        _returnTargetPos = _projectilePos getPos [100, getDir _projectile];
-        _returnTargetPos set [2, (_projectilePos select 2) + _cruiseHeight];
-
         if (_seekerTargetPos isNotEqualTo [0,0,0]) then {
             _attackProfileStateParams set [0, STAGE_ATTACK_CRUISE];
+            
+            _attackProfileStateParams set [2, [_projectilePos select 2, _seekerTargetPos distance2d _projectilePos]];
             TRACE_1("New Stage: STAGE_ATTACK_CRUISE",_distanceFromLaunch2d);
         };
     };
     case STAGE_ATTACK_CRUISE: {
+        _missileStateData params ["_heightBeforeStateSwitch", "_initialDistanceToTarget"];
+
         private _currentHeightOverTarget = (_projectilePos select 2) - (_seekerTargetPos select 2);
         private _distanceToTarget2d = _seekerTargetPos distance2d _projectilePos;
-        private _distToGoRatio = _distanceToTarget2d / (_launchPos distance2d _seekerTargetPos);
 
-        // arcing up at 7 degrees to start until 50% left, then smooth curve to a downward attack
+        _returnTargetPos set [2, _heightBeforeStateSwitch + (_initialDistanceToTarget * sin 7)];
-        private _gainSlope = linearConversion [0.5, 0.1, _distToGoRatio, 7, -7, true];
-        _returnTargetPos = +_seekerTargetPos;
-        _returnTargetPos set [2, ((_projectilePos select 2) + (_distanceToTarget2d * sin _gainSlope)) max (_seekerTargetPos select 2)];
 
-        if ((_distanceToTarget2d < 500) || {(_currentHeightOverTarget atan2 _distanceToTarget2d) > 15}) then { // Wait until we can come down at a sharp angle
+        // if we are at the rotation limit, rotate to target
+        if (_atMinRotationAngle || {(_currentHeightOverTarget atan2 _distanceToTarget2d) > 15}) then { // Wait until we can come down at a sharp angle
             _attackProfileStateParams set [0, STAGE_ATTACK_TERMINAL];
+
+            _attackProfileStateParams set [2, [_projectilePos select 2, _seekerTargetPos distance2d _projectilePos]];
             TRACE_2("New Stage: STAGE_ATTACK_TERMINAL",_distanceToTarget2d,_currentHeightOverTarget);
         };
     };
     case STAGE_ATTACK_TERMINAL: {
-        private _distanceToTarget2d = _seekerTargetPos distance2d _projectilePos;
-        _returnTargetPos = _seekerTargetPos vectorAdd [0, 0, _distanceToTarget2d * 0.02];
     };
 };
 
-// Special radar case. Adjust target position such that we are leading it
+// missile guidance defines this variable in doAttackProfile
-if (_attackStage >= 3 && { _seekerType isEqualTo "ARH" }) then {
+//IGNORE_PRIVATE_WARNING ["_attackProfileName"];
-    _seekerStateParams params ["", "", "", "", "", "", "", "_lastKnownVelocity"];
+_attackProfileName = ["na", "hellfire - LAUNCH", "hellfire - SEEK CRUISE", "hellfire - ATTACK CRUISE", "hellfire - TERMINAL"] select _attackStage;
-    private _projectileVelocity = velocity _projectile;
-    if (_projectileVelocity#2 < 0) then {
-        private _projectileSpeed = vectorMagnitude _projectileVelocity; // this gives a precise impact time versus using speed _projectile. Dont change
-        private _timeUntilImpact = (_seekerTargetPos distance _projectilePos) / _projectileSpeed;
-        _returnTargetPos = _returnTargetPos vectorAdd (_lastKnownVelocity vectorMultiply _timeUntilImpact);
-    };
-};
 
-// TRACE_1("Adjusted target position",_returnTargetPos);
+TRACE_1("Adjusted target position",_returnTargetPos);
 _returnTargetPos;

addons/hellfire/functions/fnc_getAttackProfileSettings.sqf

@@ -27,6 +27,8 @@ private _attackConfig = configFile >> QEGVAR(missileguidance,AttackProfiles) >>
 // Launch (clearing terrain mask for LO/HI):
 private _configLaunchHeightClear = getNumber (_attackConfig >> QGVAR(launchHeightClear));
 
+private _projectilePos = getPosASL _projectile;
+
 // Get starting stage
 private _startingStage = if (_configLaunchHeightClear > 0) then {
     STAGE_LAUNCH; // LOAL-HI / LO
@@ -40,5 +42,9 @@ private _startingStage = if (_configLaunchHeightClear > 0) then {
 // Set data in param array
 _attackProfileStateParams set [0, _startingStage];
 _attackProfileStateParams set [1, _configLaunchHeightClear];
+_attackProfileStateParams set [2, [
+    _projectilePos select 2,
+    _seekerTargetPos distance2d _projectilePos
+]];
 
 TRACE_1("new shot settings",_attackProfileStateParams);

addons/hellfire/functions/fnc_midCourseTransition.sqf

@@ -0,0 +1,29 @@
+#include "..\script_component.hpp"
+/*
+ * Author: tcvm
+ * Condition to switch to next navigation profile
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * None
+ *
+ * Example:
+ * [] call ace_hellfire_fnc_midCourseTransition
+ *
+ * Public: No
+ */
+
+_args params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams", "_targetData", "_navigationStateData"];
+_firedEH params ["_shooter","","","","_ammo","","_projectile"];
+_launchParams params ["_shooter","_targetLaunchParams","_seekerType","_attackProfile","_lockMode","_laserInfo","_navigationType"];
+_targetLaunchParams params ["_target", "_targetPos", "_launchPos", "_launchDir", "_launchTime"];
+_flightParams params ["_pitchRate", "_yawRate", "_isBangBangGuidance"];
+_stateParams params ["_lastRunTime", "_seekerStateParams", "_attackProfileStateParams", "_lastKnownPosState","_navigationParams", "_guidanceParameters"];
+_seekerParams params ["_seekerAngle", "_seekerAccuracy", "_seekerMaxRange", "_seekerMinRange"];
+_targetData params ["_targetDirection", "_attackProfileDirection", "_targetRange", "_targetVelocity", "_targetAcceleration"];
+
+_attackProfileStateParams params ["_state"];
+_state isEqualTo STAGE_ATTACK_TERMINAL;
+

addons/hot/CfgAmmo.hpp

@@ -58,12 +58,13 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0;          // Minium flap deflection for guidance
+            pitchRate = 45;          // Minium flap deflection for guidance
-            maxDeflection = 0.0030;     // Maximum flap deflection for guidance
+            yawRate = 45;            // Maximum flap deflection for guidance
-            incDeflection = 0.0005;     // The incrmeent in which deflection adjusts.
 
             canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 
+            showTrail = 1;
+
             // Guidance type for munitions
             defaultSeekerType = "SACLOS";
             seekerTypes[] = { "SACLOS" };
@@ -71,6 +72,14 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
+            defaultNavigationType = "Line";
+            navigationTypes[] = { "Line" };
+
+            lineGainP = 7;
+            lineGainD = 6;
+
+            initialPitch = 2;
+
             seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 30;           // Angle from the shooter's view that can track the missile
             seekerAccuracy = 1;         // seeker accuracy multiplier
@@ -78,7 +87,6 @@ class CfgAmmo {
             seekerMinRange = 75;
             seekerMaxRange = 4000;      // Range from the missile which the seeker can visually search
 
-            correctionDistance = 8; // distance from center of crosshair where missile slows down
             offsetFromCrosshair[] = { 0, 0, 0.5 }; // where the missile wants to stay in relation to the center of the crosshair.
 
             // Attack profile type selection

addons/hot/CfgVehicles.hpp

@@ -4,11 +4,22 @@ class CfgVehicles {
         class Turrets;
     };
     class LT_01_base_F: Tank_F {
+        class AnimationSources;
         class Turrets: Turrets {
             class MainTurret;
         };
     };
     class LT_01_AT_base_F: LT_01_base_F {
+        class AnimationSources: AnimationSources {
+            class Missiles_revolving {
+                source = "revolving";
+                weapon = QGVAR(generic_launcher);
+            };
+            class Missiles_reloadMagazine {
+                source = "reloadMagazine";
+                weapon = QGVAR(generic_launcher);
+            };
+        };
         class Turrets: Turrets {
             class MainTurret: MainTurret {
                 weapons[] = {"SmokeLauncher","HMG_127",QGVAR(generic_launcher)};

addons/maverick/ACE_GuidanceConfig.hpp

@@ -2,6 +2,6 @@ class EGVAR(missileguidance,AttackProfiles) {
     class maverick {
         name = "LOAL-DIR";
         nameLocked = "LOBL-DIR";
-        functionName = QEFUNC(missileguidance,attackProfile_DIR);
+        functionName = QEFUNC(missileguidance,attackProfile_LIN);
     };
 };

addons/maverick/CfgAmmo.hpp

@@ -5,6 +5,45 @@ class CfgAmmo {
     };
     class Missile_AGM_02_F: MissileBase {};
 
+    class GVAR(D): Missile_AGM_02_F {
+        author = "Dani (TCVM)";
+        missileLockMaxDistance = 14000;
+        maneuvrability = 0;
+        class ace_missileguidance {
+            enabled = 1;
+
+            pitchRate = 15;
+            yawRate = 15;
+
+            canVanillaLock = 1;
+
+            defaultSeekerType = "Optic";
+            seekerTypes[] = {"Optic"};
+
+            defaultSeekerLockMode = "LOBL";
+            seekerLockModes[] = {"LOBL"};
+
+            defaultNavigationType = "AugmentedProportionalNavigation";
+            navigationTypes[] = { "AugmentedProportionalNavigation" };
+
+            seekLastTargetPos = 1;
+            seekerAngle = 60;
+            seekerAccuracy = 1;
+
+            seekerMinRange = 1;
+            seekerMaxRange = 14000;
+
+            defaultAttackProfile = "maverick";
+            attackProfiles[] = {"maverick"};
+        };
+    };
+
+    class GVAR(G): GVAR(D) {
+        class ace_missileguidance: ace_missileguidance {
+            enabled = 1;
+        };
+    };
+
     class GVAR(L): Missile_AGM_02_F {
         author = "xrufix";
         autoSeekTarget = 0;
@@ -16,9 +55,8 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0;
+            pitchRate = 15;
-            maxDeflection = 0.002;
+            yawRate = 15;
-            incDeflection = 0.001;
 
             canVanillaLock = 0;
 
@@ -28,6 +66,9 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = {"LOAL","LOBL"};
 
+            defaultNavigationType = "AugmentedProportionalNavigation";
+            navigationTypes[] = { "AugmentedProportionalNavigation" };
+
             seekLastTargetPos = 1;
             seekerAngle = 60;
             seekerAccuracy = 1;
@@ -49,9 +90,8 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0;
+            pitchRate = 20;
-            maxDeflection = 0.002;
+            yawRate = 20;
-            incDeflection = 0.001;
 
             canVanillaLock = 0;
 
@@ -61,6 +101,9 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = {"LOAL"};
 
+            defaultNavigationType = "AugmentedProportionalNavigation";
+            navigationTypes[] = { "AugmentedProportionalNavigation" };
+
             seekLastTargetPos = 1;
             seekerAngle = 40;
             seekerAccuracy = 1;

addons/maverick/CfgMagazines.hpp

@@ -12,7 +12,71 @@ class CfgMagazines {
 
     class PylonRack_Missile_AGM_02_x1: magazine_Missile_AGM_02_x1 {};
     class PylonRack_Missile_AGM_02_x2: magazine_Missile_AGM_02_x1 {};
+    
+    // Optical Mavericks
+    class GVAR(D_magazine): 6Rnd_Missile_AGM_02_F {
+        ammo = QGVAR(D);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(d_mag_x1);
+    };
+    class GVAR(D_pylonRack_1Rnd): PylonRack_1Rnd_Missile_AGM_02_F {
+        ammo = QGVAR(D);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(d_mag_x1);
+        pylonWeapon = QGVAR(D_Launcher);
+    };
+    class GVAR(D_pylonRack_3Rnd): PylonRack_3Rnd_Missile_AGM_02_F {
+        ammo = QGVAR(D);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(d_mag_x3);
+        pylonWeapon = QGVAR(D_Launcher);
+    };
 
+    class GVAR(G_magazine_x1): magazine_Missile_AGM_02_x1 {
+        ammo = QGVAR(G);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(g_mag_x1);
+    };
+    class GVAR(G_pylonmissile_x1): PylonMissile_Missile_AGM_02_x1 {
+        ammo = QGVAR(G);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(g_mag_x1);
+        pylonWeapon = QGVAR(G_Launcher);
+    };
+    class GVAR(G_pylonmissile_x2): PylonMissile_Missile_AGM_02_x2 {
+        ammo = QGVAR(G);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(g_mag_x2);
+        pylonWeapon = QGVAR(G_Launcher);
+    };
+
+    class GVAR(G_pylonRack_1Rnd): PylonRack_1Rnd_Missile_AGM_02_F {
+        ammo = QGVAR(G);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(g_mag_x1);
+        pylonWeapon = QGVAR(G_Launcher);
+    };
+    class GVAR(G_PylonRack_3Rnd): PylonRack_3Rnd_Missile_AGM_02_F {
+        ammo = QGVAR(G);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(g_mag_x3);
+        pylonWeapon = QGVAR(G_Launcher);
+    };
+    
+    class GVAR(G_PylonRack_x1): PylonRack_Missile_AGM_02_x1 {
+        ammo = QGVAR(G);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(g_mag_x1);
+        pylonWeapon = QGVAR(G_Launcher);
+    };
+    class GVAR(G_PylonRack_x2): PylonRack_Missile_AGM_02_x2 {
+        ammo = QGVAR(G);
+        author = "Dani (TCVM)";
+        displayName = CSTRING(g_mag_x2);
+        pylonWeapon = QGVAR(G_Launcher);
+    };
+
+    // Laser Mavericks
     class GVAR(L_magazine_x1): magazine_Missile_AGM_02_x1 {
         ammo = QGVAR(L);
         author = "xrufix";

addons/maverick/CfgWeapons.hpp

@@ -6,6 +6,22 @@ class CfgWeapons {
     class MissileLauncher: LauncherCore {};
     class Missile_AGM_02_Plane_CAS_01_F: MissileLauncher {};
 
+    class GVAR(D_Launcher): Missile_AGM_02_Plane_CAS_01_F {
+        author = "Dani (TCVM)";
+        displayname = CSTRING(D);
+        magazines[] = {QGVAR(D_magazine), QGVAR(D_pylonRack_1Rnd), QGVAR(D_pylonRack_3Rnd)};
+        weaponLockDelay = 0.1;
+        weaponLockSystem = 2;
+    };
+
+    class GVAR(G_Launcher): weapon_AGM_65Launcher {
+        author = "Dani (TCVM)";
+        displayname = CSTRING(G);
+        magazines[] = {QGVAR(G_magazine_x1), QGVAR(G_pylonmissile_x1), QGVAR(G_pylonmissile_x2), QGVAR(G_pylonRack_1Rnd), QGVAR(G_PylonRack_3Rnd), QGVAR(G_PylonRack_x1), QGVAR(G_PylonRack_x2)};
+        weaponLockDelay = 0.1;
+        weaponLockSystem = 2;
+    };
+
     class GVAR(L_Launcher): weapon_AGM_65Launcher {
         author = "xrufix";
         displayname = CSTRING(L);

addons/maverick/stringtable.xml

@@ -111,6 +111,27 @@
                 <Turkish>1x Kh-25ML [ACE]</Turkish>
                 <Spanish>1x Kh-25ML [ACE]</Spanish>
             </Key>
+            <Key ID="STR_ACE_Maverick_d">
+                <English>AGM-65 Maverick D</English>
+            </Key>
+            <Key ID="STR_ACE_Maverick_g">
+                <English>AGM-65 Maverick G</English>
+            </Key>
+            <Key ID="STR_ACE_Maverick_d_mag_x1">
+                <English>AGM-65 Maverick D [ACE]</English>
+            </Key>
+            <Key ID="STR_ACE_Maverick_d_mag_x3">
+                <English>3x AGM-65 Maverick D [ACE]</English>
+            </Key>
+            <Key ID="STR_ACE_Maverick_g_mag_x1">
+                <English>AGM-65 Maverick G [ACE]</English>
+            </Key>
+            <Key ID="STR_ACE_Maverick_g_mag_x2">
+                <English>2x AGM-65 Maverick G [ACE]</English>
+            </Key>
+            <Key ID="STR_ACE_Maverick_g_mag_x3">
+                <English>3x AGM-65 Maverick G [ACE]</English>
+            </Key>
         </Container>
         <Container name="weapons">
             <Key ID="STR_ACE_Maverick_l">

addons/metis/CfgAmmo.hpp

@@ -10,12 +10,14 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0;          // Minium flap deflection for guidance
+            pitchRate = 50;          // Minium flap deflection for guidance
-            maxDeflection = 0.0027;     // Maximum flap deflection for guidance
+            yawRate = 50;     // Maximum flap deflection for guidance
-            incDeflection = 0.0005;     // The incrmeent in which deflection adjusts.
+            initialPitch = 2;
 
             canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 
+            showTrail = 1;
+
             // Guidance type for munitions
             defaultSeekerType = "SACLOS";
             seekerTypes[] = { "SACLOS" };
@@ -23,6 +25,12 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
+            defaultNavigationType = "Line";
+            navigationTypes[] = { "Line" };
+
+            lineGainP = 10;
+            lineGainD = 9;
+
             seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 15;           // Angle from the shooter's view that can track the missile
             seekerAccuracy = 1;         // seeker accuracy multiplier
@@ -30,7 +38,6 @@ class CfgAmmo {
             seekerMinRange = 80;
             seekerMaxRange = 2000;      // Range from the missile which the seeker can visually search
 
-            correctionDistance = 3; // distance from center of crosshair where missile slows down
             offsetFromCrosshair[] = { 0, 0, 0 }; // where the missile wants to stay in relation to the center of the crosshair.
 
             // Attack profile type selection
@@ -50,9 +57,8 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0;          // Minium flap deflection for guidance
+            pitchRate = 25;          // Minium flap deflection for guidance
-            maxDeflection = 0.0027;     // Maximum flap deflection for guidance
+            yawRate = 25;     // Maximum flap deflection for guidance
-            incDeflection = 0.0005;     // The incrmeent in which deflection adjusts.
 
             canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 
@@ -63,6 +69,12 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
+            defaultNavigationType = "Line";
+            navigationTypes[] = { "Line" };
+
+            lineGainP = 21;
+            lineGainD = 18;
+
             seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 15;           // Angle from the shooter's view that can track the missile
             seekerAccuracy = 1;         // seeker accuracy multiplier
@@ -70,7 +82,7 @@ class CfgAmmo {
             seekerMinRange = 80;
             seekerMaxRange = 2000;      // Range from the missile which the seeker can visually search
 
-            correctionDistance = 3; // distance from center of crosshair where missile slows down
+            correctionDistance = 1; // distance from center of crosshair where missile slows down
             offsetFromCrosshair[] = { 0, 0, 0 }; // where the missile wants to stay in relation to the center of the crosshair.
 
             // Attack profile type selection

addons/missileguidance/CfgAmmo.hpp

@@ -20,19 +20,21 @@ class CfgAmmo {
         class ADDON {
             enabled = 1;
 
-            minDeflection = 0.0005;      // Minium flap deflection for guidance
+            pitchRate = 40; // degrees per second
-            maxDeflection = 0.0025;       // Maximum flap deflection for guidance
+            yawRate = 40;
-            incDeflection = 0.0005;      // The incrmeent in which deflection adjusts.
 
             canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 
             // Guidance type for munitions
             defaultSeekerType = "SALH";
-            seekerTypes[] = { "SALH", "LIDAR", "SARH", "Optic", "Thermal", "GPS", "SACLOS", "MCLOS" };
+            seekerTypes[] = { "SALH" };
 
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
+            defaultNavigationType = "AugmentedProportionalNavigation";
+            navigationTypes[] = { "AugmentedProportionalNavigation" };
+
             seekerAngle = 90;           // Angle in front of the missile which can be searched
             seekerAccuracy = 1;         // seeker accuracy multiplier
 
@@ -69,9 +71,10 @@ class CfgAmmo {
         class ADDON {
             enabled = 1;
 
-            minDeflection = 0.00005;      // Minium flap deflection for guidance
+            pitchRate = 100; // degrees per second
-            maxDeflection = 0.025;       // Maximum flap deflection for guidance
+            yawRate = 100;
-            incDeflection = 0.00005;      // The incrmeent in which deflection adjusts.
+            stabilityCoefficient = 0.2;
+            bangBangGuidance = 0;
 
             canVanillaLock = 0;
 
@@ -82,6 +85,11 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOBL";
             seekerLockModes[] = { "LOBL" };
 
+            defaultNavigationType = "Direct";
+            navigationTypes[] = { "Direct", "ZeroEffortMiss" };
+
+            navigationGain = 3;
+
             seekerAngle = 180;           // Angle in front of the missile which can be searched
             seekerAccuracy = 1;         // seeker accuracy multiplier
 
@@ -94,6 +102,19 @@ class CfgAmmo {
             defaultAttackProfile = "JAV_TOP";
             attackProfiles[] = { "JAV_TOP", "JAV_DIR" };
             useModeForAttackProfile = 1;
+
+            class navigationStates {
+                class initial {
+                    transitionCondition = QFUNC(javelin_midCourseTransition);
+                    navigationType = "Direct";
+                };
+                class terminal {
+                    transitionCondition = "";
+                    navigationType = "ZeroEffortMiss";
+                };
+                // transitions from initial -> termimal
+                states[] = {"initial", "terminal"};
+            };
         };
     };
     class ACE_Javelin_FGM148_static: ACE_Javelin_FGM148 {

addons/missileguidance/CfgMagazines.hpp

@@ -4,24 +4,40 @@ class CfgMagazines {
     class 6Rnd_ACE_Hydra70_DAGR: 12Rnd_PG_missiles {
         ammo = "ACE_Hydra70_DAGR";
         count = 12;
-        displayName = "6 Round DAGR";
+        displayName = CSTRING(Hydra70_DAGR_6x);
-        displayNameShort = "6 Round DAGR";
-        descriptionShort = "6 Round DAGR";
         weight = 36;
 
     };
     class 12Rnd_ACE_Hydra70_DAGR: 6Rnd_ACE_Hydra70_DAGR {
         count = 12;
-        displayName = "16 Round DAGR";
+        displayName = CSTRING(Hydra70_DAGR_12x);
-        displayNameShort = "16 Round DAGR";
-        descriptionShort = "16 Round DAGR";
         weight = 72;
     };
     class 24Rnd_ACE_Hydra70_DAGR: 6Rnd_ACE_Hydra70_DAGR {
         count = 24;
-        displayName = "24 Round DAGR";
+        displayName = CSTRING(Hydra70_DAGR_24x);
-        displayNameShort = "24 Round DAGR";
-        descriptionShort = "24 Round DAGR";
         weight = 72;
     };
+
+    class PylonRack_12Rnd_PG_missiles;
+    class PylonRack_6Rnd_ACE_DAGR: PylonRack_12Rnd_PG_missiles {
+        ammo = "ACE_Hydra70_DAGR";
+        displayName = CSTRING(Hydra70_DAGR_6x);
+        count = 6;
+        pylonWeapon = QGVAR(dagr);
+    };
+
+    class PylonRack_12Rnd_ACE_DAGR: PylonRack_12Rnd_PG_missiles {
+        ammo = "ACE_Hydra70_DAGR";
+        displayName = CSTRING(Hydra70_DAGR_12x);
+        count = 12;
+        pylonWeapon = QGVAR(dagr);
+    };
+
+    class PylonRack_24Rnd_ACE_DAGR: PylonRack_12Rnd_PG_missiles {
+        ammo = "ACE_Hydra70_DAGR";
+        displayName = CSTRING(Hydra70_DAGR_24x);
+        count = 24;
+        pylonWeapon = QGVAR(dagr);
+    };
 };

addons/missileguidance/CfgWeapons.hpp

@@ -2,8 +2,13 @@ class CfgWeapons {
     class missiles_DAGR;
 
     class GVAR(dagr): missiles_DAGR {
+        EGVAR(laser,canSelect) = 1; // can ace_laser lock (allows switching laser code)
+        EGVAR(laser,showHud) = 1; // show attack profile / lock on hud
+        magazines[] = {"6Rnd_ACE_Hydra70_DAGR","12Rnd_ACE_Hydra70_DAGR","24Rnd_ACE_Hydra70_DAGR","PylonRack_6Rnd_ACE_DAGR","PylonRack_12Rnd_ACE_DAGR","PylonRack_24Rnd_ACE_DAGR"};
+
+        autoFire = 0;
         canLock = 0;
-        magazines[] = {"6Rnd_ACE_Hydra70_DAGR","12Rnd_ACE_Hydra70_DAGR","24Rnd_ACE_Hydra70_DAGR"};
+        weaponLockSystem = 0;
         lockingTargetSound[] = {"",0,1};
         lockedTargetSound[] = {"",0,1};
     };

addons/missileguidance/XEH_PREP.hpp

@@ -32,6 +32,7 @@ PREP(attackProfile_BEAM);
 // Javelin profiles
 PREP(attackProfile_JAV_DIR);
 PREP(attackProfile_JAV_TOP);
+PREP(javelin_midCourseTransition);
 
 // Navigation Profiles
 PREP(navigationType_zeroEffortMiss);

addons/missileguidance/functions/fnc_attackProfile_JAV_DIR.sqf

@@ -47,7 +47,7 @@ private _returnTargetPos = _seekerTargetPos;
 switch (_attackProfileStateParams select 0) do {
     case STAGE_LAUNCH: {
         TRACE_1("STAGE_LAUNCH","");
-        if (_distanceToShooter < 10) then {
+        if (_distanceToShooter < 6) then {
             _returnTargetPos = _seekerTargetPos vectorAdd [0,0,_distanceToTarget*2];
         } else {
             _attackProfileStateParams set [0, STAGE_CLIMB];
@@ -55,7 +55,8 @@ switch (_attackProfileStateParams select 0) do {
     };
     case STAGE_CLIMB: {
         TRACE_1("STAGE_CLIMB","");
-       private _cruisAlt = 60 * (_distanceShooterToTarget/2000);
+        // 65 is min range
+       private _cruisAlt = 60 * ((0 max (_distanceShooterToTarget - 65))/2000);
 
         if ( ((ASLToAGL _projectilePos) select 2) - ((ASLToAGL _seekerTargetPos) select 2) >= _cruisAlt) then {
             _attackProfileStateParams set [0, STAGE_TERMINAL];

addons/missileguidance/functions/fnc_attackProfile_JAV_TOP.sqf

@@ -57,7 +57,7 @@ switch( (_attackProfileStateParams select 0) ) do {
         TRACE_1("STAGE_CLIMB","");
         private _cruisAlt = 140;
         if (_distanceShooterToTarget < 1250) then {
-            _cruisAlt = 140 * (_distanceShooterToTarget/1250);
+            _cruisAlt = 140 * ((0 max (_distanceShooterToTarget - 150))/1250);
             TRACE_1("_cruisAlt",_cruisAlt);
         };
         if ( ((ASLToAGL _projectilePos) select 2) - ((ASLToAGL _seekerTargetPos) select 2) >= _cruisAlt) then {

addons/missileguidance/functions/fnc_javelin_midCourseTransition.sqf

@@ -0,0 +1,33 @@
+#include "..\script_component.hpp"
+/*
+ * Author: tcvm
+ * Condition to switch to next navigation profile
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * None
+ *
+ * Example:
+ * [] call ace_missileguidance_fnc_javelin_midCourseTransition
+ *
+ * Public: No
+ */
+#define STAGE_LAUNCH 1
+#define STAGE_CLIMB 2
+#define STAGE_COAST 3
+#define STAGE_TERMINAL 4
+
+_args params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams", "_targetData", "_navigationStateData"];
+_firedEH params ["_shooter","","","","_ammo","","_projectile"];
+_launchParams params ["_shooter","_targetLaunchParams","_seekerType","_attackProfile","_lockMode","_laserInfo","_navigationType"];
+_targetLaunchParams params ["_target", "_targetPos", "_launchPos", "_launchDir", "_launchTime"];
+_flightParams params ["_pitchRate", "_yawRate", "_isBangBangGuidance"];
+_stateParams params ["_lastRunTime", "_seekerStateParams", "_attackProfileStateParams", "_lastKnownPosState","_navigationParams", "_guidanceParameters"];
+_seekerParams params ["_seekerAngle", "_seekerAccuracy", "_seekerMaxRange", "_seekerMinRange"];
+_targetData params ["_targetDirection", "_attackProfileDirection", "_targetRange", "_targetVelocity", "_targetAcceleration"];
+
+_attackProfileStateParams params ["_state"];
+_state isEqualTo STAGE_TERMINAL
+

addons/missileguidance/stringtable.xml

@@ -205,5 +205,14 @@
             <Chinese>循環切換開火模式</Chinese>
             <Turkish>Ateşleme Modunu Değiştir</Turkish>
         </Key>
+        <Key ID="STR_ACE_MissileGuidance_Hydra70_DAGR_6x">
+            <English>6x DAGR [ACE]</English>
+        </Key>
+        <Key ID="STR_ACE_MissileGuidance_Hydra70_DAGR_12x">
+            <English>12x DAGR [ACE]</English>
+        </Key>
+        <Key ID="STR_ACE_MissileGuidance_Hydra70_DAGR_24x">
+            <English>24x DAGR [ACE]</English>
+        </Key>
     </Package>
 </Project>

addons/nlaw/ACE_GuidanceConfig.hpp

@@ -12,3 +12,9 @@ class EGVAR(missileguidance,SeekerTypes) {
         functionName = QFUNC(seeker);
     };
 };
+class EGVAR(missileguidance,NavigationTypes) {
+    class GVAR(PLOS) {
+        functionName = QFUNC(navigation);
+        onFired = QFUNC(navigation_onFired);
+    };
+};

addons/nlaw/CfgAmmo.hpp

@@ -6,9 +6,8 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0.0005;      // Minium flap deflection for guidance
+            pitchRate = 5;      // Minium flap deflection for guidance
-            maxDeflection = 0.01;       // Maximum flap deflection for guidance
+            yawRate = 10;      // Maximum flap deflection for guidance
-            incDeflection = 0.0005;      // The incrmeent in which deflection adjusts.
 
             canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 
@@ -19,6 +18,9 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOBL";
             seekerLockModes[] = {"LOBL"};
 
+            defaultNavigationType = QGVAR(PLOS);
+            navigationTypes[] = { QGVAR(PLOS) };
+
             seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 45;           // Angle in front of the missile which can be searched
             seekerAccuracy = 1;         // seeker accuracy multiplier

addons/nlaw/XEH_PREP.hpp

@@ -4,3 +4,5 @@ PREP(attackProfile);
 PREP(keyDown);
 PREP(onFired);
 PREP(seeker);
+PREP(navigation);
+PREP(navigation_onFired);

addons/nlaw/XEH_postInit.sqf

@@ -22,7 +22,11 @@ GVAR(pitchChange) = 0;
 
 // Visual debuging, idealy used with a moving vehicle called "testTarget"
 #ifdef DRAW_NLAW_INFO
+GVAR(debug_firedPrediction) = [];
 addMissionEventHandler ["Draw3d", {
+    // BLACK - On fired path prediction
+    { drawIcon3D _x; } forEach GVAR(debug_firedPrediction);
+
     // GREEN - Draw an object called "testTarget"'s aim pos and 1 sec aimpos predicted by velocity
     if ((!isNil "testTarget") && {!isNull testTarget}) then {
         {

addons/nlaw/functions/fnc_attackProfile.sqf

@@ -18,14 +18,13 @@
  */
 
 params ["_seekerTargetPos", "_args", "_attackProfileStateParams"];
+
+#ifdef DRAW_NLAW_INFO
 _args params ["_firedEH", "_launchParams"];
 _launchParams params ["","_targetLaunchParams", "", "_attackProfile"];
 _targetLaunchParams params ["", "", "_launchPos"];
 _firedEH params ["","","","","","","_projectile"];
 
-// Use seeker (if terminal)
-if (_seekerTargetPos isNotEqualTo [0,0,0]) exitWith {_seekerTargetPos};
-
 _attackProfileStateParams params ["_startTime", "_startLOS", "_yawChange", "_pitchChange"];
 (_startLOS call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"];
 
@@ -36,14 +35,6 @@ private _flightTime = CBA_missionTime - _startTime;
 private _realYaw = _yaw + _yawChange * _flightTime;
 private _realPitch = _pitch + _pitchChange * _flightTime;
 
-private _returnTargetPos = _launchPos vectorAdd ([_distanceFromLaunch, _realYaw, _realPitch] call CBA_fnc_polar2vect);
-
-if (_attackProfile == QGVAR(overflyTopAttack)) then { // Add 2m height in OTA attack mode
-    _returnTargetPos = _returnTargetPos vectorAdd [0,0,2];
-};
-
-
-#ifdef DRAW_NLAW_INFO
 drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLtoAGL _launchPos, 0.75, 0.75, 0, "LAUNCH", 1, 0.025, "TahomaB"];
 drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [0,1,1,1], ASLtoAGL (_launchPos vectorAdd (_startLOS vectorMultiply (_distanceFromLaunch + 50))), 0.75, 0.75, 0, "Original LOS", 1, 0.025, "TahomaB"];
 drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,1,0,1], ASLtoAGL (_launchPos vectorAdd ([_distanceFromLaunch + 50, _realYaw, _realPitch] call CBA_fnc_polar2vect)), 0.75, 0.75, 0, format ["Predicted @%1sec",(floor(_flightTime * 10)/10)], 1, 0.025, "TahomaB"];
@@ -56,5 +47,4 @@ if ((count _test) > 0) then {
 };
 #endif
 
-// TRACE_1("Adjusted target position",_returnTargetPos);
+[0, 0, 1]
-_returnTargetPos;

addons/nlaw/functions/fnc_keyDown.sqf

@@ -74,7 +74,7 @@ playSound "ACE_Sound_Click";
     _args set [1, _yaw];
     _args set [2, _pitch];
 
-    #ifdef DEBUG_MODE_FULL
+    #ifdef DRAW_NLAW_INFO
     hintSilent format ["Instantaneous\nYaw: %1\n Pitch: %2\nGVAR\nYaw: %3\nPitch: %4", _yawChange, _pitchChange, GVAR(yawChange), GVAR(pitchChange)];
     #endif
 }, .25, [CBA_missionTime, _yaw, _pitch, true]] call CBA_fnc_addPerFrameHandler;

addons/nlaw/functions/fnc_navigation.sqf

@@ -0,0 +1,78 @@
+#include "..\script_component.hpp"
+/*
+ * Author: tcvm
+ * Attempts to hold angle as fed to by seeker. Does so with a simple proportional controller
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * Commanded acceleration normal to LOS in world space <ARRAY>
+ *
+ * Example:
+ * [] call ace_missileguidance_fnc_navigationType_line
+ *
+ * Public: No
+ */
+// arbitrary constant
+#define PROPORTIONALITY_CONSTANT 20
+params ["_args", "_timestep", "_seekerTargetPos", "_profileAdjustedTargetPos", "_targetData", "_navigationParams"];
+_args params ["_firedEH"];
+_firedEH params ["","","","","","","_projectile"];
+
+_navigationParams params ["_yawChange", "_pitchChange", "_lastPitch", "_lastYaw", "_initialPitch", "_pitchUp", "_lastYawRateDifference"];
+
+// for some reason we need to multiply this. I don't know why, but it just works
+_pitchChange = _pitchChange * 1.5;
+_yawChange = _yawChange * 1.5;
+
+((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"];
+
+private _pitchRate = if (_timestep == 0) then {
+    0
+} else {
+    (_currentPitch - _lastPitch) / _timestep
+};
+_navigationParams set [2, _currentPitch];
+
+private _pitchModifier = if (_pitchChange == 0) then {
+    1
+} else {
+    abs (_pitchRate / _pitchChange)
+};
+private _desiredPitchChange = (_pitchChange - _pitchRate) * PROPORTIONALITY_CONSTANT * _pitchModifier;
+_desiredPitchChange = _desiredPitchChange + _pitchUp * (_initialPitch - _currentPitch) * PROPORTIONALITY_CONSTANT * _pitchModifier;
+
+private _yawRate = if (_timestep == 0) then {
+    0
+} else {
+    (_currentYaw - _lastYaw) / _timestep
+};
+_navigationParams set [3, _currentYaw];
+
+private _yawModifier = if (_yawChange == 0) then {
+    1
+} else {
+    abs (_yawRate / _yawChange)
+};
+
+private _yawRateDifference = _yawChange - _yawRate;
+private _yawChangeDerivative = if (_timestep == 0) then {
+    0
+} else {
+    (_yawRateDifference - _lastYawRateDifference) / _timestep
+};
+_navigationParams set [6, _yawRateDifference];
+
+private _desiredYawChange = _yawRateDifference * PROPORTIONALITY_CONSTANT + _yawRateDifference * 2;
+
+#ifdef DRAW_NLAW_INFO
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLtoAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["dP [%1] dY: [%2]", _desiredPitchChange, _desiredYawChange], 1, 0.025, "TahomaB"];
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, 1] vectorAdd ASLtoAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["pitch proportional [%1] yaw proportional [%2]", _pitchModifier, _yawModifier], 1, 0.025, "TahomaB"];
+#endif
+
+TRACE_4("nlaw pitch/yaw info",_currentPitch,_lastPitch,_currentYaw,_lastYaw);
+TRACE_6("nlaw navigation",_yawChange,_desiredYawChange,_pitchChange,_desiredPitchChange,_yawRate,_pitchRate);
+
+_projectile vectorModelToWorldVisual [_yawChange + _desiredYawChange, 0, _pitchChange + _desiredPitchChange]
+

addons/nlaw/functions/fnc_navigation_onFired.sqf

@@ -0,0 +1,70 @@
+#include "..\script_component.hpp"
+/*
+ * Author: PabstMirror
+ * Sets up missile guidance state arrays (called from missileGuidance's onFired).
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * Navigation Parameters <ARRAY>
+ *
+ * Example:
+ * [] call ace_nlaw_fnc_onFired
+ *
+ * Public: No
+ */
+
+params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams"];
+_firedEH params ["_shooter","","","","","","_projectile"];
+_launchParams params ["","_targetLaunchParams","","_attackProfile"];
+_targetLaunchParams params ["_target"];
+_stateParams params ["", "", "", "", "_navigationParams"];
+
+// Reset _launchPos origin as projectile's height instead of player's foot
+_targetLaunchParams set [2, getPosASL _projectile];
+
+// Get state params:
+TRACE_3("start of attack profile",_attackProfile,_shooter,vectorDir _projectile);
+
+private _firedLOS = _shooter weaponDirection (currentWeapon _shooter);
+private _yawChange = 0;
+private _pitchChange = 0;
+
+if (_shooter == ACE_player) then {
+    TRACE_2("isPlayer",GVAR(yawChange),GVAR(pitchChange));
+    _yawChange = GVAR(yawChange);
+    _pitchChange = GVAR(pitchChange);
+    TRACE_1("los check",_firedLOS call CBA_fnc_vect2Polar);
+} else {
+    if ((!isNil "_target") && {!isNull _target}) then {
+        _firedLOS = (getPosASL _projectile) vectorFromTo (aimPos _target);
+        (((eyePos _shooter) vectorFromTo (aimPos _target)) call CBA_fnc_vect2Polar) params ["", "_startYaw", "_startPitch"];
+        // Add some random error to AI's velocity prediction:
+        private _random = random [(_shooter skillFinal "aimingAccuracy") min 0.9, 1, 2-((_shooter skillFinal "aimingAccuracy") min 0.9)];
+        (((eyePos _shooter) vectorFromTo ((aimPos _target) vectorAdd ((velocity _target) vectorMultiply (_random)))) call CBA_fnc_vect2Polar) params ["", "_predictedYaw", "_predictedPitch"];
+        _yawChange = ([_predictedYaw - _startYaw] call CBA_fnc_simplifyAngle180);
+        _pitchChange = ([_predictedPitch - _startPitch] call CBA_fnc_simplifyAngle180);
+        TRACE_1("AI",_target);
+    } else {
+        TRACE_1("AI - no target",_target);
+    };
+};
+
+// Limit Max Deflection
+//_yawChange = -10 max _yawChange min 10;
+//_pitchChange = -10 max _pitchChange min 10;
+
+((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"];
+((ACE_player weaponDirection (currentWeapon ACE_player)) call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"];
+
+TRACE_5("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange,_currentPitch,_currentYaw);
+_navigationParams set [0, _yawChange];
+_navigationParams set [1, _pitchChange];
+_navigationParams set [2, _currentPitch]; // last pitch
+_navigationParams set [3, _currentYaw]; // last yaw
+_navigationParams set [4, _pitch]; // initial pitch
+_navigationParams set [5, 0]; // whether or not to zero out the pitch
+_navigationParams set [6, 0];
+_navigationParams
+

addons/nlaw/functions/fnc_onFired.sqf

@@ -19,7 +19,7 @@ params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_statePa
 _firedEH params ["_shooter","","","","","","_projectile"];
 _launchParams params ["","_targetLaunchParams","","_attackProfile"];
 _targetLaunchParams params ["_target"];
-_stateParams params ["", "", "_attackProfileStateParams"];
+_stateParams params ["", "_seekerStateParams", "_attackProfileStateParams"];
 
 // Reset _launchPos origin as projectile's height instead of player's foot
 _targetLaunchParams set [2, getPosASL _projectile];
@@ -27,7 +27,7 @@ _targetLaunchParams set [2, getPosASL _projectile];
 // Get state params:
 TRACE_3("start of attack profile",_attackProfile,_shooter,vectorDir _projectile);
 
-private _firedLOS = _shooter weaponDirection (currentWeapon _shooter);
+private _firedLOS = vectorDir _projectile;
 private _yawChange = 0;
 private _pitchChange = 0;
 
@@ -36,6 +36,23 @@ if (_shooter == ACE_player) then {
     _yawChange = GVAR(yawChange);
     _pitchChange = GVAR(pitchChange);
     TRACE_1("los check",_firedLOS call CBA_fnc_vect2Polar);
+
+    #ifdef DRAW_NLAW_INFO
+    systemChat format ["YAW [%1]", _yawChange];
+    systemChat format ["PITCH [%1]", _pitchChange];
+    GVAR(debug_firedPrediction) = [];
+    private _debugPos = getPosASL _projectile;
+    ((ACE_player weaponDirection (currentWeapon ACE_player)) call CBA_fnc_vect2Polar) params ["", "_debugYaw", "_debugPitch"];
+    private _distance = 0;
+    for "_x" from 0 to 6 step 0.1 do {
+        private _debugAproxVel = linearConversion [0, 1, 5, 40, 170, true];
+        _distance = _distance + _debugAproxVel * 0.1;
+        private _debugYaw = _debugYaw + _yawChange * _x;
+        private _debugPitch = _debugPitch + _pitchChange * _x;
+        private _debugPos = _debugPos vectorAdd ([_distance, _debugYaw, _debugPitch] call CBA_fnc_polar2vect);
+        GVAR(debug_firedPrediction) pushBack ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [0,0,0,1], ASLtoAGL _debugPos, 0.5, 0.5, 0, format ["%1", _x], 1, 0.025, "TahomaB"];
+    };
+    #endif
 } else {
     if ((!isNil "_target") && {!isNull _target}) then {
         _firedLOS = (getPosASL _projectile) vectorFromTo (aimPos _target);
@@ -55,6 +72,10 @@ if (_shooter == ACE_player) then {
 _yawChange = -10 max _yawChange min 10;
 _pitchChange = -10 max _pitchChange min 10;
 
+_seekerStateParams set [2, _yawChange];
+_seekerStateParams set [3, _pitchChange];
+_seekerStateParams set [4, CBA_missionTime];
+
 TRACE_3("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange);
 _attackProfileStateParams set [0, CBA_missionTime];
 _attackProfileStateParams set [1, _firedLOS];

addons/nlaw/functions/fnc_seeker.sqf

@@ -16,14 +16,27 @@
  *
  * Public: No
  */
+#define PITCH_UP_TIME 1
 
-params ["", "_args", "_seekerStateParams"];
+params ["", "_args", "_seekerStateParams", "", "", "_targetData"];
 _args params ["_firedEH", "_launchParams", "", "_seekerParams", "_stateParams"];
 _firedEH params ["","","","","","","_projectile"];
 _launchParams params ["", "_targetLaunchParams", "", "_attackProfile"];
 _targetLaunchParams params ["", "", "_launchPos"];
+_stateParams params ["", "", "", "", "_navigationParams"];
 
-if (_attackProfile == QGVAR(directAttack)) exitWith {[0,0,0]};
+if (_attackProfile == QGVAR(directAttack)) exitWith {
+    _navigationParams set [5, 1];
+    [0,0,0]
+};
+
+_seekerStateParams params ["", "", "", "_originalPitchRate", "_startTime"];
+_navigationParams params ["", "_pitchRate"];
+
+// pitch up for the first second of flight to begin an over-fly trajectory
+private _pitchChange = linearConversion [0, PITCH_UP_TIME, CBA_missionTime - _startTime, 2, 0, true];
+_navigationParams set [1, _originalPitchRate + _pitchChange];
+_navigationParams set [5, ((CBA_missionTime - _startTime) min PITCH_UP_TIME) / PITCH_UP_TIME];
 
 private _projPos = getPosASL _projectile;