I'm looking for an old console game that I once played, but I don't remember it's name.

it had a tank (or some vechile with a gun) that could jump and change the angle of the cannon, and you could jump out the tank and play a little man and shoot up some things.
sort of like metroid, but with less secret areas and upgrades, but still a good game.
does anyone know whats the name of the game, and for which system it was?