mirror of
https://github.com/valmojr/armatak.git
synced 2026-06-13 13:43:46 +00:00
Added UAS Tool active actions from ATAK
This commit is contained in:
@@ -61,6 +61,14 @@ addMissionEventHandler ["ExtensionCallback", {
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case "COMMAND_LONG";
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case "COMMAND_INT";
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case "COMMAND_ACK";
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case "MISSION_COUNT";
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case "MISSION_ITEM";
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case "MISSION_ITEM_INT";
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case "MISSION_CLEAR_ALL";
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case "MISSION_SET_CURRENT";
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case "SET_HOME_POSITION";
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case "SET_MODE";
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case "SET_POSITION_TARGET_GLOBAL_INT";
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case "MANUAL_CONTROL": {
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"armatak" callExtension ["log", [["info", format ["MAVLINK UDP CALLBACK %1 %2", _function, _data]]]];
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[_function, _data] call EFUNC(uav,handleMavlinkCallback);
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@@ -6,42 +6,281 @@ if (!hasInterface) exitWith {};
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private _payload = [_data] call FUNC(parseMavlinkCallbackData);
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private _uav = getConnectedUAV player;
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if (isNull _uav) then {
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_uav = player getVariable [QGVAR(broadcastingUav), objNull];
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};
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if (isNull _uav) exitWith {
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"armatak" callExtension ["log", [["warn", format ["Ignoring MAVLINK UDP callback %1 because no UAV is connected: %2", _function, _data]]]];
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};
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private _command = parseNumber (_payload getOrDefault ["command", "-1"]);
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private _number = {
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params ["_key", ["_default", 0]];
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private _raw = _payload getOrDefault [_key, str _default];
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private _value = parseNumber _raw;
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if (!finite _value) exitWith {_default};
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_value
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};
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private _uavGroup = {
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params ["_vehicle"];
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private _crew = crew _vehicle;
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if (_crew isEqualTo []) exitWith {grpNull};
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group (_crew select 0)
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};
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private _clearWaypoints = {
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params ["_group"];
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if (isNull _group) exitWith {};
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for "_i" from ((count waypoints _group) - 1) to 0 step -1 do {
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deleteWaypoint [_group, _i];
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};
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};
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private _clearUavRoute = {
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private _group = [_uav] call _uavGroup;
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if (isNull _group) exitWith {false};
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[_group] call _clearWaypoints;
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_uav setVariable ["armatak_uas_mission_items", [], true];
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true
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};
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private _geoToAtl = {
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params ["_vehicle", "_lat", "_lon", ["_alt", -1]];
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private _current = [_vehicle] call EFUNC(client,extractClientPosition);
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private _currentLat = _current select 1;
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private _currentLon = _current select 2;
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private _currentAtl = getPosATL _vehicle;
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private _northM = (_lat - _currentLat) * 111320;
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private _eastM = (_lon - _currentLon) * (111320 * (cos _currentLat));
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[
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(_currentAtl select 0) + _eastM,
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(_currentAtl select 1) + _northM,
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if (_alt >= 0) then {_alt} else {_currentAtl select 2}
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]
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};
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private _commandMove = {
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params ["_vehicle", "_positionAtl", ["_type", "MOVE"], ["_radius", 80], ["_completion", 50]];
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private _group = [_vehicle] call _uavGroup;
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if (isNull _group) exitWith {false};
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[_group] call _clearWaypoints;
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_vehicle engineOn true;
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_vehicle setVariable ["armatak_uas_armed", true, true];
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_vehicle setFuel ((fuel _vehicle) max 0.1);
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_vehicle flyInHeight ((_positionAtl select 2) max 10);
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_vehicle doMove _positionAtl;
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private _wp = _group addWaypoint [_positionAtl, 0];
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_wp setWaypointType _type;
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_wp setWaypointBehaviour "CARELESS";
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_wp setWaypointCombatMode "BLUE";
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_wp setWaypointSpeed "NORMAL";
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_wp setWaypointCompletionRadius _completion;
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if (_type == "LOITER") then {
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_wp setWaypointLoiterRadius (_radius max 25);
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_wp setWaypointLoiterType "CIRCLE_L";
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};
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true
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};
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private _appendMissionWaypoint = {
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params ["_vehicle", "_positionAtl", "_command", "_seq", ["_radius", 80]];
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private _group = [_vehicle] call _uavGroup;
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if (isNull _group) exitWith {false};
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private _type = switch (_command) do {
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case 17;
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case 18;
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case 19;
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case 31: {"LOITER"};
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case 21: {"MOVE"};
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default {"MOVE"};
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};
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private _wp = _group addWaypoint [_positionAtl, 0];
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_wp setWaypointType _type;
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_wp setWaypointBehaviour "CARELESS";
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_wp setWaypointCombatMode "BLUE";
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_wp setWaypointSpeed "NORMAL";
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_wp setWaypointCompletionRadius 35;
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if (_type == "LOITER") then {
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_wp setWaypointLoiterRadius (_radius max 25);
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_wp setWaypointLoiterType "CIRCLE_L";
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};
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if (_command == 21) then {
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_wp setWaypointStatements ["true", "(vehicle this) land 'LAND'"];
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};
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private _items = _vehicle getVariable ["armatak_uas_mission_items", []];
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_items pushBack [_seq, _command, _positionAtl];
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_vehicle setVariable ["armatak_uas_mission_items", _items, true];
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true
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};
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private _commandName = _payload getOrDefault ["command_name", "UNKNOWN"];
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private _command = [_payload getOrDefault ["command", "-1"]] call BIS_fnc_parseNumber;
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private _callsign = [_uav] call armatak_fnc_extract_marker_callsign;
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private _applySpeed = {
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params ["_speed"];
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if (_speed <= 0) exitWith {false};
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_uav limitSpeed _speed;
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systemChat format ["ATAK SPEED %1m/s %2", round _speed, _callsign];
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true
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};
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private _applyMode = {
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params ["_mode"];
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switch (_mode) do {
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case 4: {
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_uav engineOn true;
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_uav setVariable ["armatak_uas_armed", true, true];
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_uav setFuel ((fuel _uav) max 0.1);
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systemChat format ["ATAK GUIDED %1", _callsign];
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};
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case 5: {
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private _pos = getPosATL _uav;
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[_uav, _pos, "LOITER", 80, 25] call _commandMove;
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systemChat format ["ATAK LOITER %1", _callsign];
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};
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case 6;
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case 21;
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case 27: {
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private _home = _uav getVariable ["armatak_uas_home_atl", getPosATL _uav];
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_home set [2, ((_home select 2) max 60)];
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[_uav, _home, "MOVE", 80, 60] call _commandMove;
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systemChat format ["ATAK RTL %1", _callsign];
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};
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case 9: {
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private _pos = getPosATL _uav;
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_pos set [2, 0];
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[_uav, _pos, "MOVE", 30, 20] call _commandMove;
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_uav flyInHeight 0;
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systemChat format ["ATAK LAND %1", _callsign];
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};
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default {
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"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK mode %1 for UAV %2", _mode, _uav]]]];
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};
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};
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};
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private _setHomeFromGeo = {
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params ["_lat", "_lon", "_alt"];
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if (_lat == 0 && {_lon == 0}) exitWith {false};
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private _homeAtl = [_uav, _lat, _lon, _alt] call _geoToAtl;
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_uav setVariable ["armatak_uas_home_atl", _homeAtl, true];
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_uav setVariable ["armatak_uas_home_geo", [_lat, _lon, _alt], true];
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systemChat format ["ATAK HOME %1", _callsign];
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true
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};
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switch (_function) do {
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case "COMMAND_LONG": {
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switch (_command) do {
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case 176: {
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private _mode = ["param2", -1] call _number;
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if (_mode < 0) then {
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_mode = ["param1", -1] call _number;
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};
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[_mode] call _applyMode;
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};
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case 178: {
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private _speed = ["param2", -1] call _number;
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if (_speed <= 0) then {
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_speed = ["param1", -1] call _number;
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};
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[_speed] call _applySpeed;
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};
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case 179: {
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private _useCurrent = (["param1", 0] call _number) >= 1;
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if (_useCurrent) then {
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private _pos = [_uav] call EFUNC(client,extractClientPosition);
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private _relAlt = ((getPosATL _uav) select 2) max 0;
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private _homeAtl = getPosATL _uav;
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_uav setVariable ["armatak_uas_home_atl", _homeAtl, true];
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_uav setVariable ["armatak_uas_home_geo", [_pos select 1, _pos select 2, (_pos select 3) - _relAlt], true];
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systemChat format ["ATAK HOME %1", _callsign];
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} else {
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[["param5", 0] call _number, ["param6", 0] call _number, ["param7", 0] call _number] call _setHomeFromGeo;
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};
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};
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case 400: {
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private _armValue = parseNumber (_payload getOrDefault ["param1", "0"]);
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private _doArm = _armValue >= 1;
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private _doArm = (["param1", 0] call _number) >= 1;
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_uav engineOn _doArm;
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_uav setVariable ["armatak_uas_armed", _doArm, true];
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if (_doArm) then {
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_uav setFuel ((fuel _uav) max 0.1);
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};
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systemChat format ["ATAK %1 %2", ["DISARM", "ARM"] select _doArm, [_uav] call armatak_fnc_extract_marker_callsign];
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"armatak" callExtension ["log", [["info", format ["Applied MAVLINK COMMAND_LONG %1 (%2) to UAV %3", _command, _commandName, _uav]]]];
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systemChat format ["ATAK %1 %2", ["DISARM", "ARM"] select _doArm, _callsign];
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"armatak" callExtension ["log", [["info", format ["Applied MAVLINK ARM=%1 to UAV %2", _doArm, _uav]]]];
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};
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case 22: {
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_uav engineOn true;
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_uav setFuel ((fuel _uav) max 0.1);
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_uav flyInHeight 75;
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if (_uav isKindOf "Helicopter" || {_uav isKindOf "VTOL_Base_F"} || {_uav isKindOf "Quadbike_01_F"}) then {
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private _velocity = velocityModelSpace _uav;
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_uav setVelocityModelSpace [
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_velocity select 0,
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(_velocity select 1) max 15,
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((_velocity select 2) max 0) + 8
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];
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private _alt = (["param7", 75] call _number) max 10;
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private _pos = getPosATL _uav;
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_pos set [2, _alt];
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[_uav, _pos, "MOVE", 80, 25] call _commandMove;
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_uav setVelocityModelSpace [0, 15, 8];
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systemChat format ["ATAK TAKEOFF %1m %2", round _alt, _callsign];
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};
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case 21: {
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[9] call _applyMode;
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};
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case 20: {
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[6] call _applyMode;
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};
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case 16: {
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private _lat = ["param5", 0] call _number;
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private _lon = ["param6", 0] call _number;
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private _alt = ["param7", -1] call _number;
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private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
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[_uav, _pos, "MOVE", 80, 50] call _commandMove;
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systemChat format ["ATAK MOVE %1", _callsign];
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};
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case 17: {
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private _lat = ["param5", 0] call _number;
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private _lon = ["param6", 0] call _number;
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private _alt = ["param7", -1] call _number;
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private _radius = abs (["param3", 80] call _number);
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private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
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[_uav, _pos, "LOITER", _radius, 30] call _commandMove;
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systemChat format ["ATAK LOITER %1", _callsign];
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};
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case 43000: {
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private _speed = ["param2", -1] call _number;
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if (_speed <= 0) then {
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_speed = ["param1", -1] call _number;
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};
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[_speed] call _applySpeed;
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};
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case 43001: {
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private _alt = ["param1", -1] call _number;
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if (_alt < 0) then {
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_alt = ["param7", -1] call _number;
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};
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private _pos = getPosATL _uav;
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_pos set [2, _alt max 10];
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[_uav, _pos, "MOVE", 80, 25] call _commandMove;
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systemChat format ["ATAK ALT %1m %2", round (_pos select 2), _callsign];
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};
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case 43002: {
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private _heading = ["param1", -1] call _number;
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if (_heading >= 0) then {
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_uav setDir _heading;
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systemChat format ["ATAK HDG %1 %2", round _heading, _callsign];
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};
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systemChat format ["ATAK TAKEOFF %1", [_uav] call armatak_fnc_extract_marker_callsign];
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"armatak" callExtension ["log", [["info", format ["Applied MAVLINK TAKEOFF to UAV %1", _uav]]]];
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};
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default {
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"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK COMMAND_LONG %1 (%2): %3", _command, _commandName, _data]]]];
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@@ -49,7 +288,87 @@ switch (_function) do {
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};
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};
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case "COMMAND_INT": {
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"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_INT %1 (%2): %3", _command, _commandName, _data]]]];
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private _lat = (["x", 0] call _number) / 1e7;
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private _lon = (["y", 0] call _number) / 1e7;
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private _alt = ["z", -1] call _number;
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switch (_command) do {
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case 16: {
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private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
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[_uav, _pos, "MOVE", 80, 50] call _commandMove;
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systemChat format ["ATAK MOVE %1", _callsign];
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};
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case 17;
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case 192: {
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private _radius = abs (["param3", 80] call _number);
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private _direction = ["CIRCLE_L", "CIRCLE_R"] select ((["param4", 0] call _number) < 0);
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private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
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private _type = ["MOVE", "LOITER"] select (_radius > 1);
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[_uav, _pos, _type, _radius, 30] call _commandMove;
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if (_type == "LOITER") then {
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private _group = [_uav] call _uavGroup;
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private _waypoints = waypoints _group;
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if (_waypoints isNotEqualTo []) then {
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(_waypoints select -1) setWaypointLoiterType _direction;
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};
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};
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systemChat format ["ATAK %1 %2", _type, _callsign];
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};
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default {
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"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK COMMAND_INT %1 (%2): %3", _command, _commandName, _data]]]];
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};
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};
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};
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case "MISSION_COUNT": {
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private _count = ["count", 0] call _number;
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[] call _clearUavRoute;
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systemChat format ["ATAK ROUTE %1 pts %2", round _count, _callsign];
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"armatak" callExtension ["log", [["info", format ["Receiving MAVLINK mission count=%1 for UAV %2", _count, _uav]]]];
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};
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case "MISSION_CLEAR_ALL": {
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[] call _clearUavRoute;
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systemChat format ["ATAK ROUTE CLEAR %1", _callsign];
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};
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case "MISSION_SET_CURRENT": {
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private _seq = ["seq", 0] call _number;
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"armatak" callExtension ["log", [["info", format ["MAVLINK mission set current seq=%1 for UAV %2", _seq, _uav]]]];
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};
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case "MISSION_ITEM";
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case "MISSION_ITEM_INT": {
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private _seq = ["seq", 0] call _number;
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private _missionCommand = ["command", -1] call _number;
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private _lat = ["lat", 0] call _number;
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private _lon = ["lon", 0] call _number;
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private _alt = ["alt", -1] call _number;
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if (_lat == 0 && {_lon == 0}) exitWith {
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"armatak" callExtension ["log", [["warn", format ["Ignoring MAVLINK mission item at zero coordinate: %1", _data]]]];
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};
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private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
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private _radius = abs (["param3", 80] call _number);
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[_uav, _pos, _missionCommand, _seq, _radius] call _appendMissionWaypoint;
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_uav engineOn true;
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_uav setVariable ["armatak_uas_armed", true, true];
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_uav setFuel ((fuel _uav) max 0.1);
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_uav flyInHeight ((_pos select 2) max 10);
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systemChat format ["ATAK ROUTE WP %1 %2", round _seq, _callsign];
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"armatak" callExtension ["log", [["info", format ["Added MAVLINK mission item seq=%1 command=%2 posATL=%3 for UAV %4", _seq, _missionCommand, _pos, _uav]]]];
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};
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case "SET_HOME_POSITION": {
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[["lat", 0] call _number, ["lon", 0] call _number, ["alt", 0] call _number] call _setHomeFromGeo;
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};
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case "SET_POSITION_TARGET_GLOBAL_INT": {
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private _lat = ["lat", 0] call _number;
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private _lon = ["lon", 0] call _number;
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private _alt = ["alt", -1] call _number;
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private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
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[_uav, _pos, "MOVE", 80, 40] call _commandMove;
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systemChat format ["ATAK GUIDED MOVE %1", _callsign];
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};
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case "SET_MODE": {
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private _mode = ["custom_mode", -1] call _number;
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[_mode] call _applyMode;
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||||
};
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case "COMMAND_ACK": {
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||||
"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_ACK %1 (%2): %3", _command, _commandName, _data]]]];
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||||
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||||
@@ -40,6 +40,11 @@ private _mavlinkAddress = player getVariable [QEGVAR(client,mavlink_address), ""
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||||
if (_mavlinkAddress isEqualTo "") exitWith {};
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||||
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||||
private _pos = [_uav] call EFUNC(client,extractClientPosition);
|
||||
private _relAlt = ((getPosATL _uav) select 2) max 0;
|
||||
if (isNil {_uav getVariable "armatak_uas_home_atl"}) then {
|
||||
_uav setVariable ["armatak_uas_home_atl", getPosATL _uav, true];
|
||||
_uav setVariable ["armatak_uas_home_geo", [_pos select 1, _pos select 2, (_pos select 3) - _relAlt], true];
|
||||
};
|
||||
private _uuid = [_uav] call armatak_fnc_extract_uuid;
|
||||
private _callsign = [_uav] call armatak_fnc_extract_marker_callsign;
|
||||
private _videoUri = [_uav] call FUNC(resolveVideoUri);
|
||||
@@ -48,8 +53,15 @@ private _up = vectorUp _uav;
|
||||
private _yaw = getDir _uav;
|
||||
private _pitch = asin (((_dir select 2) max -1) min 1);
|
||||
private _roll = asin (((_up select 0) max -1) min 1);
|
||||
private _relAlt = ((getPosATL _uav) select 2) max 0;
|
||||
private _uavType = if (_uav isKindOf "Plane") then {1} else {[2, 3] select (_uav isKindOf "Helicopter")};
|
||||
private _armed = _uav getVariable ["armatak_uas_armed", isEngineOn _uav];
|
||||
if !(isEngineOn _uav) then {
|
||||
_armed = false;
|
||||
_uav setVariable ["armatak_uas_armed", false, true];
|
||||
};
|
||||
private _groundSpeed = abs (_pos select 6);
|
||||
private _landed = (_relAlt <= 1.5) && {_groundSpeed <= 0.5};
|
||||
private _batteryRemaining = round ((((fuel _uav) max 0) min 1) * 100);
|
||||
|
||||
private _gimbalRoll = 0;
|
||||
private _gimbalPitch = _pitch;
|
||||
@@ -92,7 +104,8 @@ private _systemPayload = [
|
||||
_roll,
|
||||
_pitch,
|
||||
_yaw,
|
||||
parseNumber isEngineOn _uav,
|
||||
parseNumber _armed,
|
||||
parseNumber _landed,
|
||||
_gimbalRoll,
|
||||
_gimbalPitch,
|
||||
_gimbalYaw,
|
||||
@@ -102,7 +115,8 @@ private _systemPayload = [
|
||||
_imageLat,
|
||||
_imageLon,
|
||||
_imageAlt,
|
||||
parseNumber _hasTurretCamera
|
||||
parseNumber _hasTurretCamera,
|
||||
_batteryRemaining
|
||||
];
|
||||
|
||||
"armatak" callExtension ["uas:send_uas_system", [_systemPayload]];
|
||||
|
||||
Reference in New Issue
Block a user