progress update: tercom now flies to acquisition basket

addons/missileguidance/ACE_GuidanceConfig.hpp

@@ -128,6 +128,14 @@ class GVAR(SeekerTypes) {
         functionName = QFUNC(seekerType_GPS);
         onFired = QFUNC(gps_seekerOnFired);
     };
+    class TERCOM {
+        name = "";
+        visualName = "";
+        description = "";
+        
+        functionName = QFUNC(seekerType_TERCOM);
+        onFired = QFUNC(tercom_onFired);
+    };
 };
 
 class GVAR(NavigationTypes) {

addons/missileguidance/XEH_PREP.hpp

@@ -50,6 +50,7 @@ PREP(seekerType_Doppler);
 PREP(seekerType_MWR);
 PREP(seekerType_IR);
 PREP(seekerType_GPS);
+PREP(seekerType_TERCOM);
 
 // Attack Profiles OnFired
 PREP(wire_onFired);
@@ -62,6 +63,7 @@ PREP(doppler_onFired);
 PREP(mwr_onFired);
 PREP(IR_onFired);
 PREP(gps_seekerOnFired);
+PREP(tercom_onFired);
 
 // Navigation OnFired
 PREP(proNav_onFired);

addons/missileguidance/functions/fnc_navigationType_line.sqf

@@ -23,6 +23,9 @@ _navigationParams params ["_proportionalGain", "", "_derivativeGain", "_lastErro
 private _targetDistance = _projectile vectorWorldToModelVisual (_targetDir vectorMultiply _distance);
 private _relativeDirection = _projectile vectorWorldToModelVisual _targetDir;
 
+_proportionalGain = 50;
+_derivativeGain = 50;
+
 private _errorX = -1 max (1 min (_targetDistance#0 / _correctionDistance));
 private _errorY = -1 max (1 min (_targetDistance#2 / _correctionDistance));
 

addons/missileguidance/functions/fnc_seekerType_TERCOM.sqf

@@ -0,0 +1,71 @@
+#include "script_component.hpp"
+/*
+ * Author: Brandon (TCVM)
+ * TERCOM seeker. Checks change in height data to current change in height and figures out where it is
+ * TERCOM works by determining the gradient of height change where the missile is, finding the most likely candidate for that in the
+ * heightmap, and then plotting a course that will guide it towards the waypointed flightpath
+ * If you have a lot of similar gradients, this will not work as well since it could potentially lead to loss of munition
+ *
+ * Arguments:
+ * 1: Guidance Arg Array <ARRAY>
+ * 2: Seeker State <ARRAY>
+ *
+ * Return Value:
+ * Expected correction <ARRAY>
+ *
+ * Example:
+ * [] call ace_missileguidance_fnc_seekerType_TERCOM
+ *
+ * Public: No
+ */
+params ["", "_args", "_seekerStateParams", "", "_timestep"];
+_args params ["_firedEH", "_launchParams", "", "", "", "_targetData"];
+_firedEH params ["","","","","","","_projectile"];
+_seekerStateParams params ["_heightBuffer", "_insPosition", "_seekerState", "_currentWaypoint", "_waypoints", "_heightmap"];
+_launchParams params ["", "_targetLaunchParams"];
+_targetLaunchParams params ["", "", "_launchPos"];
+
+private _finalPosition = [0, 0, 0];
+switch (_seekerState) do {
+    case TERCOM_STATE_SEEKING_BASKET: {
+        // must have at least 2 waypoints, so this will never error
+        private _waypoint1 = _waypoints select 0;
+        private _waypoint2 = _waypoints select 1;
+        _waypoint1 params ["_positionA", "_cruiseHeight"];
+        _waypoint2 params ["_positionB"];
+
+        private _direction = _positionA vectorFromTo _positionB;
+        private _position = _positionA vectorAdd (_direction vectorMultiply (0.5 * (_positionA vectorDistance _positionB)));
+
+        _launchPos set [2, _cruiseHeight];
+        _position set [2, _cruiseHeight];
+
+        private _desiredPathDir = _launchPos vectorFromTo _position;
+
+        private _missilePosProjected = _launchPos vectorAdd (_desiredPathDir vectorMultiply ((_insPosition vectorDistance _launchPos) + 100));
+        private _distance = _insPosition vectorDistance _missilePosProjected;
+
+        _targetData set [2, _distance];
+        _finalPosition = _missilePosProjected;
+
+        (_heightmap select 0) params ["", "_resolution"];
+        if (_insPosition inArea [_position, _resolution, _resolution, (_direction#0) atan2 (_direction#1), true]) then {
+            _seekerStateParams set [2, TERCOM_STATE_FOLLOWING_TERRAIN];
+        };
+    };
+    case TERCOM_STATE_FOLLOWING_TERRAIN: {
+        // just brute force it, we won't usually have a lot of grids to check
+    };
+    case TERCOM_STATE_TERMINAL: {
+
+    };
+};
+
+if (!isGamePaused && accTime > 0) then {
+    private _projectileVelocity = velocity _projectile;
+    _insPosition = _insPosition vectorAdd (_projectileVelocity vectorMultiply _timestep);
+
+    _seekerStateParams set [1, _insPosition];
+};
+
+_finalPosition

addons/missileguidance/functions/fnc_tercom_onFired.sqf

@@ -0,0 +1,94 @@
+#include "script_component.hpp"
+/*
+ * Author: Brandon (TCVM)
+ * Sets up TERCOM state arrays
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * None
+ *
+ * Example:
+ * [] call ace_missileguidance_fnc_TERCOM_onFired
+ *
+ * Public: No
+ */
+params ["_firedEH", "", "", "", "_stateParams"];
+_firedEH params ["","","","","","","_projectile"];
+_stateParams params ["", "_seekerStateParams"];
+
+// need a number that denotes maximum grid width at specified resolution
+// 3 grid cells in either direction
+#define MAX_GRID_WIDTH 5
+
+private _minResolution = 50;
+private _maxResolution = 300;
+
+private _waypoints = [
+    [[22255.6,14042.3,0], 50],
+    [[19708.9,14668.1,0], 50],
+    [[17334.5,16922.6,0], 50],
+    [[13809.5,18171.9,0], 30],
+    [[11167.8,20575.4,0], 20],
+    [[6294.59,20780.3,0], 20],
+    [[4552.04,21492.6,0], 20]
+];
+private _heightmap = [];
+
+private _maxWaypoints = (count _waypoints) - 1;
+
+{
+    // at last waypoint, dont process
+    if (_forEachIndex == _maxWaypoints) exitWith {};
+    private _nextWaypoint = _waypoints select (_forEachIndex + 1);
+
+    _x params ["_positionA", "_cruiseHeight"];
+    _nextWaypoint params ["_positionB", "_cruiseHeight"];
+
+    private _distance = _positionA vectorDistance _positionB;
+    private _direction = _positionA vectorFromTo _positionB;
+    private _normalDirection = [-(_direction#1), _direction#0, _direction#2];
+
+    private _resolution = linearConversion [0, 1, (_forEachIndex + 1) / _maxWaypoints, _maxResolution, _minResolution];
+
+    private _startingGridPos = _positionA vectorAdd (_normalDirection vectorMultiply (MAX_GRID_WIDTH * _resolution));
+    _startingGridPos = _startingGridPos vectorDiff (_normalDirection vectorMultiply -(_resolution * 0.5));
+
+    for "_y" from 0 to (MAX_GRID_WIDTH * 2) do {
+        private _gridPos = _startingGridPos vectorAdd (_normalDirection vectorMultiply -(_resolution * _y));
+        private _firstHeightmapCell = [];
+        for "_x" from 0 to ceil (_distance / _resolution) step 1 do {
+            private _heightAtPos = 0 max getTerrainHeightASL _gridPos;
+
+            _firstHeightmapCell pushBack [_gridPos#0, _gridPos#1, _heightAtPos];
+            _gridPos = _gridPos vectorAdd (_direction vectorMultiply _resolution);
+        };
+        _heightmap pushBack [_firstHeightmapCell, _resolution * MAX_GRID_WIDTH];
+    };
+
+} forEach _waypoints;
+
+{
+    {
+        private _m = createMarker [format ["%1", random 1e10], _x];
+        _m setMarkerType "mil_dot";
+        _m setMarkerText format ["%1m", _x select 2];
+    } forEach (_x select 0);
+} forEach _heightmap;
+
+{
+    _x params ["_position", "_cruiseAltitude"];
+    private _m = createMarker [format ["%1", random 1e10], _position];
+    _m setMarkerType "mil_dot";
+    _m setMarkerText format ["%1m", _cruiseAltitude];
+    _m setMarkerColor "ColorRed";
+} forEach _waypoints;
+
+_seekerStateParams set [0, []]; // internal buffer of heights
+_seekerStateParams set [1, getPosASLVisual _projectile]; // calculated current position - simulating INS guidance
+_seekerStateParams set [2, TERCOM_STATE_SEEKING_BASKET]; // current state
+_seekerStateParams set [3, 0]; // current waypoint
+_seekerStateParams set [4, _waypoints];
+_seekerStateParams set [5, _heightmap];
+

addons/tomahawk/CfgAmmo.hpp

@@ -1,3 +1,77 @@
 class CfgAmmo {
+    class ammo_Missile_Cruise_01;
+    class ammo_Missile_Cruise_01_Cluster;
+
+    class GVAR(c): ammo_Missile_Cruise_01 {
+        maneuvrability = 0;
+        class ace_missileguidance {
+            enabled = 1;
+
+            pitchRate = 25;          // Minium flap deflection for guidance
+            yawRate = 25;            // Maximum flap deflection for guidance
+
+            canVanillaLock = 1;          // Can this default vanilla lock? Only applicable to non-cadet mode
+
+            // Guidance type for munitions
+            defaultSeekerType = "TERCOM";
+            seekerTypes[] = { "TERCOM" };
+
+            defaultSeekerLockMode = "LOBL";
+            seekerLockModes[] = { "LOBL" };
+
+            defaultNavigationType = "Line";
+            navigationTypes[] = { "Line" };
+
+            lineGainP = 50;
+            lineGainD = 50;
+
+            seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
+            seekerAngle = 45;           // Angle from the shooter's view that can track the missile
+            seekerAccuracy = 0.8;         // seeker accuracy multiplier
+
+            seekerMinRange = 75;
+            seekerMaxRange = 5000;      // Range from the missile which the seeker can visually search
+
+            // Attack profile type selection
+            defaultAttackProfile = "DIR";
+            attackProfiles[] = {"DIR"};
+        };
+    };
+
+    class GVAR(d): ammo_Missile_Cruise_01_Cluster {
+        maneuvrability = 0;
+        class ace_missileguidance {
+            enabled = 1;
+
+            pitchRate = 25;          // Minium flap deflection for guidance
+            yawRate = 25;            // Maximum flap deflection for guidance
+
+            canVanillaLock = 1;          // Can this default vanilla lock? Only applicable to non-cadet mode
+
+            // Guidance type for munitions
+            defaultSeekerType = "TERCOM";
+            seekerTypes[] = { "TERCOM" };
+
+            defaultSeekerLockMode = "LOBL";
+            seekerLockModes[] = { "LOBL" };
+
+            defaultNavigationType = "Line";
+            navigationTypes[] = { "Line" };
+
+            lineGainP = 50;
+            lineGainD = 50;
+
+            seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
+            seekerAngle = 45;           // Angle from the shooter's view that can track the missile
+            seekerAccuracy = 0.8;         // seeker accuracy multiplier
+
+            seekerMinRange = 75;
+            seekerMaxRange = 5000;      // Range from the missile which the seeker can visually search
+
+            // Attack profile type selection
+            defaultAttackProfile = "DIR";
+            attackProfiles[] = {"DIR"};
+        };
+    };
 };
 

addons/tomahawk/CfgMagazines.hpp

@@ -1,4 +1,16 @@
 class CfgMagazines {
-    
+    class magazine_Missiles_Cruise_01_x18;
+    class GVAR(c): magazine_Missiles_Cruise_01_x18 {
+        displayName = CSTRING(c);
+        displayNameShort = CSTRING(c);
+        descriptionShort = CSTRING(c_description);
+        ammo = QGVAR(c);
+    };
+    class GVAR(d): magazine_Missiles_Cruise_01_x18 {
+        displayName = CSTRING(d);
+        displayNameShort = CSTRING(d);
+        descriptionShort = CSTRING(d_description);
+        ammo = QGVAR(d);
+    };
 };
 

addons/tomahawk/CfgVehicles.hpp

@@ -4,18 +4,24 @@ class CfgVehicles {
         class Turrets;
     };
     class B_Ship_MRLS_01_base_F: StaticMGWeapon {
+        class AnimationSources;
         class Turrets: Turrets {
             class MainTurret;
         };
     };
     // Use a custom ACE variant due to custom interface for launching
-    class GVAR(vls): B_Ship_MRLS_01_base_F {
-        displayName = "[ACE] Mk41 VLS";
-        class AnimationSources {
+    class GVAR(vls_c): B_Ship_MRLS_01_base_F {
+        displayName = CSTRING(vls_c);
+        scope = 2;
+        scopeCurator = 2;
+        side = 1;
+        faction = "BLU_F";
+        crew = "B_UAV_AI";
+        class AnimationSources: AnimationSources {
             class Missiles_revolving {
                 source = "ammo";
-                source = "revolving";
                 weapon = QGVAR(c);
+                animPeriod = 0.001;
             };
         };
         class Turrets: Turrets {
@@ -29,4 +35,29 @@ class CfgVehicles {
             };
         };
     };
+    class GVAR(vls_d): B_Ship_MRLS_01_base_F {
+        displayName = CSTRING(vls_d);
+        scope = 2;
+        scopeCurator = 2;
+        side = 1;
+        faction = "BLU_F";
+        crew = "B_UAV_AI";
+        class AnimationSources: AnimationSources {
+            class Missiles_revolving {
+                source = "ammo";
+                weapon = QGVAR(d);
+                animPeriod = 0.001;
+            };
+        };
+        class Turrets: Turrets {
+            class MainTurret: MainTurret {
+                weapons[] = {
+                    QGVAR(d)
+                };
+                magazines[] = {
+                    QGVAR(d)
+                };
+            };
+        };
+    };
 };

addons/tomahawk/CfgWeapons.hpp

@@ -1,7 +1,12 @@
 class CfgWeapons {
+    class weapon_VLS_01;
     class GVAR(c): weapon_VLS_01 {
-        displayName = "Venator Cruise Missile";
-        magazines[] = {"magazine_Missiles_Cruise_01_x18", "magazine_Missiles_Cruise_01_Cluster_x18"};
+        displayName = CSTRING(c);
+        magazines[] = { QGVAR(c) };
+    };
+    class GVAR(d): weapon_VLS_01 {
+        displayName = CSTRING(d);
+        magazines[] = { QGVAR(d) };
     };
 };
 

addons/tomahawk/stringtable.xml

@@ -1,8 +1,23 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project name="ACE">
     <Package name="TOMAHAWK">
+        <Key ID="STR_ACE_TOMAHAWK_vls_c">
+            <English>[ACE] Mk41 VLS [BGM-109C]</English>
+        </Key>
         <Key ID="STR_ACE_TOMAHAWK_c">
             <English>BGM-109C</English>
         </Key>
+        <Key ID="STR_ACE_TOMAHAWK_c_description">
+            <English>Cruise missile with terrain-following capabilites and an HE warhead</English>
+        </Key>
+        <Key ID="STR_ACE_TOMAHAWK_vls_d">
+            <English>[ACE] Mk41 VLS [BGM-109D]</English>
+        </Key>
+        <Key ID="STR_ACE_TOMAHAWK_d">
+            <English>BGM-109D</English>
+        </Key>
+        <Key ID="STR_ACE_TOMAHAWK_d_description">
+            <English>Cruise missile with terrain-following capabilites and a cluster-munition warhead</English>
+        </Key>
     </Package>
 </Project>