Richard Strozzi-Heckler Sensei. A good read on the subject, and I highly recommend it, his book, "In Search of the Warrior Spirit". You should get the latest edition (This year or last year), as it contains updates since he originally wrote it back in the late 80's.
The DNA of aikido is in MCMAP. While not directly involved with the Army's MACP, the same underlying principles are there.
I hear that Yoshinkan is very forthright in their approach. I have no experience with it so I cannot comment.
Get the book and read it if you have not!