Hellfire - Update to new framework

addons/hellfire/CfgAmmo.hpp

@@ -26,9 +26,8 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0.0005;      // Minium flap deflection for guidance
-            maxDeflection = 0.01;       // Maximum flap deflection for guidance
-            incDeflection = 0.0005;      // The incrmeent in which deflection adjusts.
+            pitchRate = 30; // degrees per second
+            yawRate = 30;
 
             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";
-            seekerTypes[] = { "ARH" };
+            defaultSeekerType = "MillimeterWaveRadar";
+            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];
-        _returnTargetPos set [2, (_projectilePos select 2) + 36.4]; // 100 and 36.4 gives a 20 deg angle
+        _missileStateData params ["_heightBeforeStateSwitch", "_initialDistanceToTarget"];
+
+        _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 = _projectilePos getPos [100, getDir _projectile];
-        _returnTargetPos set [2, (_projectilePos select 2) + _cruiseHeight];
-
+        _returnTargetPos set [2, _heightBeforeStateSwitch + (_initialDistanceToTarget * sin 5.7)];
+
         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
-        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)];
+        _returnTargetPos set [2, _heightBeforeStateSwitch + (_initialDistanceToTarget * sin 7)];
 
-        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
-if (_attackStage >= 3 && { _seekerType isEqualTo "ARH" }) then {
-    _seekerStateParams params ["", "", "", "", "", "", "", "_lastKnownVelocity"];
-    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);
-    };
-};
+// missile guidance defines this variable in doAttackProfile
+//IGNORE_PRIVATE_WARNING ["_attackProfileName"];
+_attackProfileName = ["na", "hellfire - LAUNCH", "hellfire - SEEK CRUISE", "hellfire - ATTACK CRUISE", "hellfire - TERMINAL"] select _attackStage;
 
-// 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;
+