implement augmented proportional navigation

addons/aim120/CfgAmmo.hpp

@@ -22,8 +22,8 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
-            defaultNavigationType = "ProportionalNavigation";
-            navigationTypes[] = { "ProportionalNavigation" };
+            defaultNavigationType = "AugmentedProportionalNavigation";
+            navigationTypes[] = { "AugmentedProportionalNavigation" };
 
             seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 50;           // Angle from the shooter's view that can track the missile
@@ -62,8 +62,8 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOAL";
             seekerLockModes[] = { "LOAL", "LOBL" };
 
-            defaultNavigationType = "ProportionalNavigation";
-            navigationTypes[] = { "ProportionalNavigation" };
+            defaultNavigationType = "AugmentedProportionalNavigation";
+            navigationTypes[] = { "AugmentedProportionalNavigation" };
 
             seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 50;           // Angle from the shooter's view that can track the missile

addons/hellfire/CfgAmmo.hpp

@@ -83,6 +83,10 @@ class CfgAmmo {
 
             activeRadarEngageDistance = 1000;
             seekerMaxRange = 2000; // distance that the hellfire internal radar can scan
+
+            // we can get target acceleration data from radar
+            defaultNavigationType = "AugmentedProportionalNavigation";
+            navigationTypes[] = { "AugmentedProportionalNavigation" };
         };
 
         // Vanilla lock system vars

addons/missileguidance/ACE_GuidanceConfig.hpp

@@ -98,4 +98,8 @@ class GVAR(NavigationTypes) {
         functionName = QFUNC(navigationType_proNav);
         onFired = QFUNC(proNav_onFired);
     };
+    class AugmentedProportionalNavigation {       
+        functionName = QFUNC(navigationType_augmentedProNav);
+        onFired = QFUNC(proNav_onFired);
+    };
 };

addons/missileguidance/XEH_PREP.hpp

@@ -29,6 +29,7 @@ PREP(attackProfile_JAV_DIR);
 PREP(attackProfile_JAV_TOP);
 
 // Navigation Profiles
+PREP(navigationType_augmentedProNav);
 PREP(navigationType_proNav);
 PREP(navigationType_lineOfSight);
 

addons/missileguidance/functions/fnc_attackProfile_LOFT.sqf

@@ -32,6 +32,7 @@ if (_seekerTargetPos isEqualTo [0, 0, 0]) exitWith {
 };
 
 private _projectilePos = getPosASLVisual _projectile;
+private _distanceToTarget2d = _projectilePos distance2d _seekerTargetPos;
 
 private _closingRate = vectorMagnitude velocity _projectile;
 private _timeToGo = (_projectilePos distance _seekerTargetPos) / _closingRate;
@@ -44,7 +45,7 @@ private _atMinRotationAngle = _angleToTarget >= (0.5 * _pitchRate * _timeToGo);
 
 private _returnTargetPos = _seekerTargetPos;
 
-if !(_atMinRotationAngle) then {
+if (!_atMinRotationAngle && _distanceToTarget2d >= 500 && _timeToGo >= 10) then {
 	// 10 degree pitch up
 	_returnTargetPos = _seekerTargetPos vectorAdd [0, 0, (_projectilePos distance _seekerTargetPos) * sin 10];
 };

addons/missileguidance/functions/fnc_navigationType_augmentedProNav.sqf

@@ -0,0 +1,63 @@
+#include "script_component.hpp"
+/*
+ * Author: Brandon (TCVM)
+ * Determine path for projectile to take in accordance to proportional navigation, takes target acceleration into account
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * Commanded acceleration normal to LOS in world space <ARRAY>
+ *
+ * Example:
+ * [] call ace_missileguidance_fnc_navigationType_augmentedProNav
+ *
+ * Public: No
+ */
+params ["_args", "_timestep", "_seekerTargetPos", "_profileAdjustedTargetPos"];
+_args params ["_firedEH", "", "", "", "_stateParams"];
+_firedEH params ["","","","","","","_projectile"];
+_stateParams params ["", "", "", "","_navigationParams"];
+_navigationParams params ["_lastMissileFrame", "_navigationGain"];
+_lastMissileFrame params ["_lastTargetPosition", "_lastTargetVelocity", "_lastLineOfSight"];
+
+// Proportional navigation implemented via "Fundamentals of proportional navigation" by Stephen Murtaugh and Harry Criel
+private _projectileVelocity = velocity _projectile;
+
+// integrate target velocity for realistic inference of velocity
+private _targetVelocity = _lastTargetVelocity;
+private _targetAcceleration = [0, 0, 0];
+if (_timestep != 0) then {
+	_targetVelocity = (_seekerTargetPos vectorDiff _lastTargetPosition) vectorMultiply (1 / _timestep);
+	_targetAcceleration = (_targetVelocity vectorDiff _lastTargetVelocity) vectorMultiply (1 / _timestep);
+};
+
+private _closingVelocity = _targetVelocity vectorDiff _projectileVelocity;
+
+private _lineOfSight = vectorNormalized (_profileAdjustedTargetPos vectorDiff getPosASLVisual _projectile);
+
+private _targetAccelerationProjected = _lineOfSight vectorMultiply (_targetAcceleration vectorDotProduct _lineOfSight);
+_targetAcceleration = _targetAcceleration vectorDiff _targetAccelerationProjected;
+systemChat str vectorMagnitude _targetAcceleration;
+// the los rate is tiny, so we multiply by a constant of a power of ten to get more aggressive acceleration
+// this is just due to how we measure our LOS delta, the vectors involved are _tiny_
+private _losDelta = _lineOfSight vectorDiff _lastLineOfSight;
+private _losRate = if (_timestep == 0) then {
+	0
+} else {
+	10 * (vectorMagnitude _losDelta) / _timestep; 
+};
+
+private _lateralAcceleration = (_navigationGain * _losRate);
+private _commandedAcceleration = _closingVelocity vectorMultiply _lateralAcceleration;
+_commandedAcceleration = _commandedAcceleration vectorAdd (_losDelta vectorMultiply (0.5 * _navigationGain * vectorMagnitude _targetAcceleration));
+
+// we need acceleration normal to our LOS
+private _commandedAccelerationProjected = _lineOfSight vectorMultiply (_commandedAcceleration vectorDotProduct _lineOfSight);
+_commandedAcceleration = _commandedAcceleration vectorDiff _commandedAccelerationProjected;
+
+if (accTime > 0) then {
+	_navigationParams set [0, [_seekerTargetPos, _targetVelocity, _lineOfSight]];
+};
+
+_commandedAcceleration

addons/missileguidance/todo.txt

@@ -1,24 +1,24 @@
 Weapon Configs:
-    Hellfire - Laser
-    AGM-65 - Laser
-    DAGR - Laser
-    GBU-12 - Laser
+    X Hellfire - Laser
+    X AGM-65 - Laser
+    X DAGR - Laser
+    X GBU-12 - Laser
 
-    Dragon - SACLOS
-    Metis - SACLOS
-    HOT - SACLOS
+    X Dragon - SACLOS
+    X Metis - SACLOS
+    X HOT - SACLOS
 
-    Javelin - Optical
-    NLAW - PLOS
+    X Javelin - Optical
+    X NLAW - PLOS
 
     Vikhr - Beam Rider SACLOS
 
     R-73 - Infrared
     AIM-9 - Infrared
+    AIM-132 - Infrared
 
     R-77 - AHR
-    AIM-120 - AHR
-    AIM-132 - AHR
+    X AIM-120 - AHR
 
     KH-25 - Optical
     AGM-65 - Optical
@@ -58,6 +58,10 @@ Navigation Types:
 Navigation States:
     Todo
 
+Navigation Types:
+    X Augmented Pro-Nav
+    Zero Effort Miss
+
 General To-Do:
     Add more weapons
     X Fix GBU drag