Navygroup

Moose Development/Moose/Ops/NavyGroup.lua

@@ -617,15 +617,8 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   -- Waypoints.
   local waypoints={}
   
-  -- Add remaining waypoints to route.
-  local depth=nil
-  for i=n, #self.waypoints do
-  
   -- Waypoint.
-    local wp=UTILS.DeepCopy(self.waypoints[i])  --Ops.OpsGroup#OPSGROUP.Waypoint
+  local wp=UTILS.DeepCopy(self.waypoints[n])  --Ops.OpsGroup#OPSGROUP.Waypoint
-
-    -- Check if next wp.
-    if i==n then
     
   -- Speed.
   if Speed then
@@ -649,33 +642,18 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   -- Current set speed in m/s.
   self.speedWp=wp.speed
 
-      -- Current set depth.
-      depth=wp.alt
-    
-    else
-      
-      -- Dive depth is applied to all other waypoints.
-      if self.depth then
-        wp.alt=-self.depth
-      else        
-        -- Take default waypoint depth.
-      end      
-      
-    end
-
   -- Add waypoint.
   table.insert(waypoints, wp)
-  end
   
   -- Current waypoint.
-  local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), depth)
+  local current=self:GetCoordinate():WaypointNaval(UTILS.MpsToKmph(self.speedWp), wp.alt)
   table.insert(waypoints, 1, current)  
 
   
   if #waypoints>1 then
 
     self:T(self.lid..string.format("Updateing route: WP %d-->%d-->%d (#%d), Speed=%.1f knots, Depth=%d m", 
-    self.currentwp, n, #self.waypoints, #waypoints-1, UTILS.MpsToKnots(self.speedWp), depth))
+    self.currentwp, n, #self.waypoints, #waypoints-1, UTILS.MpsToKnots(self.speedWp), wp.alt))
 
 
     -- Route group to all defined waypoints remaining.

Moose Development/Moose/Ops/OpsGroup.lua

@@ -2682,10 +2682,10 @@ function OPSGROUP:onafterPassingWaypoint(From, Event, To, Waypoint)
     
   end
 
-  -- Check if all tasks/mission are done? If so, RTB or WAIT.
+  -- Check if all tasks/mission are done?
   -- Note, we delay it for a second to let the OnAfterPassingwaypoint function to be executed in case someone wants to add another waypoint there.
   if ntasks==0 then
-    self:_CheckGroupDone()
+    self:_CheckGroupDone(0.1)
   end
 
   -- Debug info.
@@ -3061,6 +3061,10 @@ function OPSGROUP:_CheckGroupDone(delay)
       self:ScheduleOnce(delay, self._CheckGroupDone, self)
     else
     
+      local waypoint=self:GetWaypoint(self.currentwp)
+    
+      local n=self:GetTasksWaypoint(id)
+    
     
       if self.adinfinitum then
       
@@ -3068,6 +3072,8 @@ function OPSGROUP:_CheckGroupDone(delay)
         -- Parol Ad Infinitum
         ---
 
+        if #self.waypoints>0 then
+      
           -- Next waypoint index.
           local i=self:GetWaypointIndexNext(true)
           
@@ -3079,6 +3085,11 @@ function OPSGROUP:_CheckGroupDone(delay)
           
           self:T(self.lid..string.format("Adinfinitum=TRUE ==> Goto WP index=%d at speed=%d knots", i, speed))
           
+        else
+          self:E(self.lid..string.format("WARNING: No waypoints left! Commanding a Full Stop"))
+          self:__FullStop(-1)        
+        end
+
       else
       
         ---