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MissileGuidance - Update to use CBA PID #11282

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Merged
PabstMirror merged 1 commit into from
Feb 12, 2026
+7 −26
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MissileGuidance - Update to use CBA PID #11282

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12 changes: 4 additions & 8 deletions addons/missileguidance/functions/fnc_line_onFired.sqf
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Original file line number Diff line number Diff line change
Expand Up @@ -21,16 +21,12 @@ private _ammoConfig = configOf _projectile;
private _p = getNumber (_ammoConfig >> QUOTE(ADDON) >> "lineGainP");
private _d = getNumber (_ammoConfig >> QUOTE(ADDON) >> "lineGainD");
if ((_p == 0) && {_d == 0}) then { WARNING_1("Ammo %1 has zero P/D",typeOf _projectile) };
private _correctionDistance = getNumber (_ammoConfig >> QUOTE(ADDON) >> "correctionDistance");

if (_correctionDistance == 0) then {
_correctionDistance = 1;
};
private _pid_x = [_p, 0, _d, 0] call CBA_pid_fnc_create;
private _pid_y = [_p, 0, _d, 0] call CBA_pid_fnc_create;
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@PabstMirror PabstMirror Feb 8, 2026

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do we need to clean these up with deleteLocation at end of pfeh?
or could cba_pid switch to hashes which should get garbage collected?

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@TheCandianVendingMachine TheCandianVendingMachine Feb 8, 2026

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ah, I didn't realise that these wouldn't be garbage collected. It would be best for CBA to switch to hashes I think

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@PabstMirror PabstMirror Feb 9, 2026

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iirc acre creates thousands of these locations and there really shouldn't be any performance impact of them existing so this is a really minor thing

made a cba pr to change over to hashmaps CBATeam/CBA_A3#1811


private _navigationParams = [
_p, 0, _d,
0,
0,
_correctionDistance
_pid_x,
_pid_y
];
_navigationParams
21 changes: 3 additions & 18 deletions addons/missileguidance/functions/fnc_navigationType_line.sqf
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Original file line number Diff line number Diff line change
Expand Up @@ -20,34 +20,19 @@ _firedEH params ["","","","","","","_projectile"];
_targetData params ["", "_targetDir", "_distance"];
_flightParams params ["_pitchRate", "_yawRate"];

_navigationParams params ["_proportionalGain", "", "_derivativeGain", "_lastErrorX", "_lastErrorY", "_correctionDistance"];
_navigationParams params ["_pid_x", "_pid_y"];
private _relativeTargetDirection = [0, (velocityModelSpace _projectile) select 1, 0] vectorAdd (_projectile vectorWorldToModelVisual (_targetDir vectorMultiply _distance));

private _angleX = ((_relativeTargetDirection select 0) atan2 (_relativeTargetDirection select 1));
private _angleY = ((_relativeTargetDirection select 2) atan2 (_relativeTargetDirection select 1));

private _pX = _proportionalGain * _angleX;
private _dX = 0;
if (_timestep > 0) then {
_dX = _derivativeGain * (_angleX - _lastErrorX) / _timestep;
};

private _pY = _proportionalGain * _angleY;
private _dY = 0;
if (_timestep > 0) then {
_dY = _derivativeGain * (_angleY - _lastErrorY) / _timestep;
};

private _accelerationX = _pX + _dX;
private _accelerationY = _pY + _dY;
private _accelerationX = [_pid_x, -_angleX] call CBA_pid_fnc_update;
private _accelerationY = [_pid_y, -_angleY] call CBA_pid_fnc_update;

private _commandedAcceleration = [
_accelerationX,
0,
_accelerationY
];

_navigationParams set [3, _angleX];
_navigationParams set [4, _angleY];

_projectile vectorModelToWorldVisual _commandedAcceleration;