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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
Mariano Lizarraga
committed
<meta http-equiv="content-type" content="text/html; charset=utf-8" />
<!-- <head> -->
<title>QGroundControl Google Earth View</title>
<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>
<script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
<script type="text/javascript">
google.load("earth", "1", { 'language': 'en'});
var initialized = false;
var currAircraft = 220;
var followEnabled = false;
var lastLat = 0;
var lastLon = 0;
var currLat = 47.3769;
var currLon = 8.549444;
var currAlt = 470;
var currFollowHeading = 0.0;
var homeLat = 0;
var homeLon = 0;
var homeAlt = 0;
var homeViewRange = 500;
var homeLocation = null;
var homeGroundLevel = 0;
var currViewRange = 50.0; ///<< The current viewing range from this position (in meters)
var currTilt = 40.0; ///<< The tilt angle (in degrees)
var currFollowTilt = 40.0;
var currView = null;
var M_PI = 3.14159265;
var planeOrient;
var planeLoc;
var aircraftLocations = [];
var aircraftLastLocations = [];
var attitudes = [];
var locations = [];
var trails = [];
var trailPlacemarks = [];
var trailsVisible = [];
var trailColors = [];
var waypoints = [];
//var waypointLines = [];
//var trailPlacemarks[id];
var lineStyle;
var planeColor = '6600ffff';
function isInitialized()
{
return initialized;
}
function init()
{
google.earth.createInstance("map3d", initCallback, failureCallback);
}
function setFollowEnabled(enable)
{
followEnabled = enable;
}
function setCurrAircraft(id)
{
currAircraft = id;
}
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function setGCSHome(lat, lon, alt)
{
homeLat = lat;
homeLon = lon;
homeAlt = alt;
var placemark = ge.createPlacemark('');
var icon = ge.createIcon('');
icon.setHref('http://google-maps-icons.googlecode.com/files/blackH.png');
var style = ge.createStyle('');
style.getIconStyle().setIcon(icon);
//style.getIconStyle().setScale(0.5);
placemark.setStyleSelector(style);
// Set the placemark's location.
homeLocation = ge.createPoint('');
homeLocation.setLatitude(lat);
homeLocation.setLongitude(lon);
homeLocation.setAltitude(alt);
placemark.setGeometry(homeLocation);
// Add the placemark to Earth.
ge.getFeatures().appendChild(placemark);
homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
if (homeGroundLevel == 0)
{
homeGroundLevel = alt;
}
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function updateWaypointListLength(id, len)
{
// Delete any non-needed waypoints
if (waypoints.length > len)
{
for (var i=len; i<waypoints.length; i++)
{
var placemark = waypoints.pop();
ge.getFeatures().removeChild(placemark);
}
}
}
function updateWaypoint(id, index, lat, lon, alt, action)
{
// Check if waypoint exists
if (waypoints.length > index)
{
// Waypoint exists
// Set the placemark's location.
var location = ge.createPoint('');
location.setLatitude(lat);
location.setLongitude(lon);
location.setAltitude(alt);
waypoints[index].setGeometry(location);
}
else
{
// Waypoint does not exist yet
var placemark = ge.createPlacemark('');
var icon = ge.createIcon('');
var numberstring = index;
if (index < 10) numberstring = '0' + numberstring
icon.setHref('http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png');
var style = ge.createStyle('');
style.getIconStyle().setIcon(icon);
//style.getIconStyle().setScale(0.5);
placemark.setStyleSelector(style);
// Set the placemark's location.
var location = ge.createPoint('');
location.setLatitude(lat);
location.setLongitude(lon);
location.setAltitude(alt);
placemark.setGeometry(location);
// Add the placemark to Earth.
ge.getFeatures().appendChild(placemark);
waypoints[index] = placemark;
}
// Add connecting line
}
planePlacemark = ge.createPlacemark('');
planePlacemark.setName('aircraft');
planeModel = ge.createModel('');
ge.getFeatures().appendChild(planePlacemark);
planeLoc = ge.createLocation('');
planeModel.setLocation(planeLoc);
planeLink = ge.createLink('');
planeOrient = ge.createOrientation('');
planeModel.setOrientation(planeOrient);
planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae');
planeModel.setLink(planeLink);
planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
planeLoc.setLatitude(currLat);
planeLoc.setLongitude(currLon);
planeLoc.setAltitude(currAlt);
planePlacemark.setGeometry(planeModel);
// Write into global structure
aircraft[id] = planePlacemark;
attitudes[id] = planeOrient;
aircraftLastLocations[id] = ge.createLocation('');
//planeColor = color;
createTrail(id, color);
console.log(color);
}
function createTrail(id, color)
{
trailPlacemarks[id] = ge.createPlacemark('');
// Create the placemark
// Create the LineString; set it to extend down to the ground
// and set the altitude mode
trails[id] = ge.createLineString('');
trailPlacemarks[id].setGeometry(trails[id]);
trails[id].setExtrude(false);
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
// Add LineString points
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
trailColors[id] = color;
lineStyle.getColor().set('00000000'); // aabbggrr format
trailsVisible[id] = false;
//ge.getFeatures().appendChild(trailPlacemarks[id]);
{
trailsVisible[id] = false;
ge.getFeatures().removeChild(trailPlacemarks[id]);
}
function showTrail(id)
{
ge.getFeatures().appendChild(trailPlacemarks[id]);
trailsVisible[id] = true;
}
function setViewRange(dist)
{
currViewRange = dist;
}
function addTrailPosition(id, lat, lon, alt)
{
trails[id].setExtrude(false);
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trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
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// Add LineString points
trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
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// Create a style and set width and color of line
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
lineStyle.setWidth(5);
lineStyle.getColor().set(trailColors[id]); // aabbggrr format
//lineStyle.getColor().set(color); // aabbggrr format
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// Add the feature to Earth
if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
function initCallback(object)
{
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ge = object;
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
//ge.getOptions().setFlyToSpeed(5.0);
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
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ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
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ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
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initialized = true;
}
function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
{
if (id == currAircraft)
{
currLat = lat;
currLon = lon;
currAlt = alt;
// Interpolate between t-1 and t and set new states
lastLat = lastLat*0.8+currLat*0.2;
lastLon = lastLon*0.8+currLon*0.2;
lastAlt = lastAlt*0.8+currAlt*0.2;
//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
// FIXME Currently invalid conversion from right-handed z-down to z-up frame
planeOrient.setRoll(((roll/M_PI))*180.0+180.0);
planeOrient.setTilt(((pitch/M_PI))*180.0+180.0);
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
currFollowHeading = ((yaw/M_PI))*180.0;
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planeLoc.setLatitude(lastLat);
planeLoc.setLongitude(lastLon);
planeLoc.setAltitude(lastAlt);
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planeModel.setLocation(planeLoc);
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}
function enableDaylight(enabled)
{
if(enabled)
{
ge.getSun().setVisibility(true);
}
else
{
ge.getSun().setVisibility(false);
}
}
function goHome()
{
var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
currView.setLatitude(homeLat);
currView.setLongitude(homeLon);
currView.setAltitude(homeAlt);
currView.setRange(homeViewRange);
currView.setTilt(currTilt);
ge.getView().setAbstractView(currView);
function setCurrentAircraft(id)
{
currAircraft = id;
}
function updateFollowAircraft()
{
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
currView.setLatitude(lastLat);
currView.setLongitude(lastLon);
currView.setAltitude(lastAlt);
currView.setRange(currViewRange);
currView.setTilt(currFollowTilt);
currView.setHeading(currFollowHeading);
ge.getView().setAbstractView(currView);
}
function failureCallback(object)
{
}
</script>
<style type="text/css">
html, body {
margin: 0;
width: 100%;
height: 100%;
}
</style>
</head>
<body onload='init()' id='body'>
<center>
<div id='map3d' style='margin: 0; spacing: 0; height: 100%; width: 100%'></div>
</center>
</body>
</html>