earth.html 20.6 KB
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<html>
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  <head>
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  <meta http-equiv="content-type" content="text/html; charset=utf-8" />
  <!-- <head> -->
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<!-- QGroundControl -->
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    <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 *** -->
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    <!--<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>-->
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    <script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
    <script type="text/javascript">
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google.load("earth", "1", { 'language': 'en'});
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var ge = null;
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var initialized = false;
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var currAircraft = 0;
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var followEnabled = false;
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var lineAltitudeOffset = 0.5; ///< 0.5 m higher than waypoint, prevents the line from entering the ground
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var lastLat = 0;
var lastLon = 0;
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var lastAlt = 0;
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var currLat = 47.3769;
var currLon = 8.549444;
var currAlt = 470;
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var currentCameraLatitude = 0;
var currentCameraLongitude = 0;
var currentCameraAltitude = 0;

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var currFollowHeading = 0.0;
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var homeLat = 0;
var homeLon = 0;
var homeAlt = 0;
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var homeViewRange = 800;
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var homeLocation = null;
var homeGroundLevel = 0;

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var currViewRange = 50.0;	///<< The current viewing range from this position (in meters)
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var currTilt = 40.0;		///<< The tilt angle (in degrees)
var currFollowTilt = 40.0;
var currView = null;
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var distanceMode = 0;
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var viewMode = 0;
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var lastTilt = currTilt;
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var lastRoll = 0;
var lastHeading = 0;

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var M_PI = 3.14159265;

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var planeOrient;
var planeLoc;

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var aircraft = [];
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var aircraftLocations = [];
var aircraftLastLocations = [];
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var attitudes = [];
var locations = [];
var trails = [];
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var trailPlacemarks = [];
var trailsVisible = [];
var trailColors = [];
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var waypoints = [];
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var waypointLines = [];
var waypointLinePlacemarks = [];
var waypointLineColors = [];
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//var waypointLines = [];
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//var trailPlacemarks[id];
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var lineStyle;
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// Aircraft class
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var planeColor = '6600ffff';
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// Enable / disable dragging
var draggingAllowed = true;

// Waypoint interaction flags
var dragInfo = null;

var dragWaypointIndex = "";
var dragWaypointLatitude = 0;
var dragWaypointLongitude = 0;
var dragWaypointAltitude = 0;
var dragWaypointPending = false;

// Waypoint creation flags
var newWaypointLatitude = 0;
var newWaypointLongitude = 0;
var newWaypointAltitude = 0;
var newWaypointPending = false;

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var clickMode = 0;

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var homePlacemark = null;

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function getGlobal(variable)
{
	return variable;
}

function getDraggingAllowed()
{
	return draggingAllowed;
}

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function setDistanceMode(mode)
{
	distanceMode = mode;
}

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function setDraggingAllowed(allowed)
{
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	draggingAllowed = allowed;
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}

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function sampleCurrentPosition()
{
    var thisView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
	currentCameraLatitude = thisView.getLatitude();
	currentCameraLongitude = thisView.getLongitude();
	currentCameraGroundAltitude = ge.getGlobe().getGroundAltitude(currentCameraLatitude, currentCameraLongitude);
}

function enableSetHomeMode()
{
	clickMode = 1;
}

function setLookAtLatLon(lat, lon)
{
	// Keep the current altitude above ground, just move the position
	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
	currView.setLatitude(lat);
	currView.setLongitude(lon);
	ge.getView().setAbstractView(currView);
}

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function setNewWaypointPending(pending)
{
	newWaypointPending = pending;
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	document.getElementById('JScript_newWaypointPending').setAttribute('value',pending);
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}

function setDragWaypointPending(pending)
{
	dragWaypointPending = pending;
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	document.getElementById('JScript_dragWaypointPending').setAttribute('value',pending);
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}
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function isInitialized()
{
	return initialized;
}

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function init()
{
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	google.earth.createInstance("map3d", initCallback, failureCallback);
}

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function setFollowEnabled(enable)
{
	followEnabled = enable;
}

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function enableEventListener()
{
// listen for mousedown on the window (look specifically for point placemarks)
google.earth.addEventListener(ge.getWindow(), 'mousedown', function(event)
{
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if (clickMode == 1)
    {
    	// Set home mode
    	dragWaypointIndex = 'HOME';
    	document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
		dragWaypointLatitude = event.getLatitude();
		dragWaypointLongitude = event.getLongitude();
		dragWaypointAltitude = ge.getGlobe().getGroundAltitude(dragWaypointLatitude, dragWaypointLongitude);
		dragWaypointPending = true;
		document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
	   document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
	   document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
	   document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
	   setGCSHome(dragWaypointLatitude, dragWaypointLongitude, dragWaypointAltitude);
}
    
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  if (event.getTarget().getType() == 'KmlPlacemark' &&
      event.getTarget().getGeometry().getType() == 'KmlPoint') {
    var placemark = event.getTarget();
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    event.preventDefault();
      if (draggingAllowed)
  {
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  	if (clickMode == 0)
  	{
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    dragInfo = {
      placemark: event.getTarget(),
      dragged: false
    };
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    }
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  }
  }
});

// listen for mousemove on the globe
google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
{
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  if (draggingAllowed && (clickMode == 0))
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  {
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  	if (dragInfo)
  	{
    	event.preventDefault();
    	var point = dragInfo.placemark.getGeometry();
    	point.setLatitude(event.getLatitude());
    	point.setLongitude(event.getLongitude());
    	dragInfo.dragged = true;
    	dragWaypointIndex = dragInfo.placemark.getDescription();
		document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
		dragWaypointLatitude = event.getLatitude();
		dragWaypointLongitude = event.getLongitude();
		dragWaypointAltitude = point.getAltitude();
		dragWaypointPending = true;
		document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
	    document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
	    document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
	    document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
  	}
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  }
});

// listen for mouseup on the window
google.earth.addEventListener(ge.getWindow(), 'mouseup', function(event)
{
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  if (draggingAllowed && (clickMode == 0))
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  {
  if (dragInfo) {
    if (dragInfo.dragged)
    {
      	// if the placemark was dragged, prevent balloons from popping up
      	event.preventDefault();
      	// Get drag end location
      	dragWaypointIndex = dragInfo.placemark.getDescription();
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		document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
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      	var point = dragInfo.placemark.getGeometry();
      	dragWaypointLatitude = event.getLatitude();
		dragWaypointLongitude = event.getLongitude();
		dragWaypointAltitude = point.getAltitude();
    	dragWaypointPending = true;
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		document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
	   document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
	   document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
	   document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
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    }
    
    dragInfo = null;
  }
  }
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      clickMode = 0;
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});

// Listen for wp creation request on the globe

google.earth.addEventListener(ge.getGlobe(), 'dblclick', function(event){
	if (draggingAllowed)
	{
       event.preventDefault();
       newWaypointLatitude = event.getLatitude();
       newWaypointLongitude = event.getLongitude();
       newWaypointAltitude = ge.getGlobe().getGroundAltitude(newWaypointLatitude, newWaypointLongitude);
       newWaypointPending = true;
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	   document.getElementById('JScript_newWaypointLatitude').setAttribute('value',newWaypointLatitude);
	   document.getElementById('JScript_newWaypointLongitude').setAttribute('value',newWaypointLongitude);
	   document.getElementById('JScript_newWaypointAltitude').setAttribute('value',newWaypointAltitude);
	   document.getElementById('JScript_newWaypointPending').setAttribute('value',true);
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    }
}); 
}

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function setCurrAircraft(id)
{
	currAircraft = id;
}
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function setGCSHome(lat, lon, alt)
{
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	// Only update if position actually changed
	if (lat != homeLat || lon != homeLon || alt != homeAlt)
	{
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	homeLat = lat;
	homeLon = lon;
	homeAlt = alt;
	
	
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	if (homePlacemark == null)
	{
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		var placemark = ge.createPlacemark(''); 
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	    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); 
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	    placemark.setStyleSelector(style);
	    placemark.setDescription('HOME');
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	    // 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. 
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	    ge.getFeatures().appendChild(placemark);
	    
	    homePlacemark = placemark;
	    }
	    else
	    {
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	    	var location = ge.createPoint('');
	    	if (location.getLatitude() != lat || location.getLongitude() != lon || location.getAltitude() != alt)
	    	{
	    		location.setLatitude(lat); 
	    		location.setLongitude(lon);
	    		location.setAltitude(alt); 
	    		homePlacemark.setGeometry(location);
	    		homePlacemark.setDescription('HOME');
	    	}
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	    }
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	    homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
	    if (homeGroundLevel == 0)
	    {
		    homeGroundLevel = alt;
	    }
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	}
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}

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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);
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		    var line = waypointLines[id].pop();
		    ge.getFeatures().removeChild(line);
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		}
	}
}

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); 
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	    waypoints[index].setGeometry(location);
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	    waypoints[index].setDescription(index+"");
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	    // Set the WP line location
	    waypointLines[id].getCoordinates().setLatLngAlt(index, lat, lon, alt);
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	}
	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'); 
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	    var style = ge.createStyle('');
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	    //console.log('WP ICON created:' + 'http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png');
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	    style.getIconStyle().setIcon(icon); 
	    //style.getIconStyle().setScale(0.5); 
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	    placemark.setStyleSelector(style);
	    placemark.setDescription(index+"");
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	    // Set the placemark's location.   
	    var location = ge.createPoint(''); 
	    location.setLatitude(lat); 
	    location.setLongitude(lon);
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	    location.setAltitude(alt+lineAltitudeOffset); 
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	    placemark.setGeometry(location);  

	    // Add the placemark to Earth. 
	    ge.getFeatures().appendChild(placemark); 
		waypoints[index] = placemark;
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        // Add LineString points
	    waypointLines[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
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	}
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}

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function createAircraft(id, type, color)
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{
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	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/ascent-park-glider.dae');
	planeModel.setLink(planeLink);
	planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); 

	planeLoc.setLatitude(currLat);
	planeLoc.setLongitude(currLon);
	planeLoc.setAltitude(currAlt);

	planePlacemark.setGeometry(planeModel);
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	// Write into global structure
	aircraft[id] = planePlacemark;
	attitudes[id] = planeOrient;
	aircraftLocations[id] = planeLoc;
	aircraftLastLocations[id] = ge.createLocation('');
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	createTrail(id, color);
	createWaypointLine(id, color);
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}

function createTrail(id, color)
{
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	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);
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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);
	trailColors[id] = color;
	lineStyle.getColor().set('00000000');  // aabbggrr format
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	trailsVisible[id] = false;
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}

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function createWaypointLine(id, color)
{
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	// Create the placemark
	waypointLinePlacemarks[id] = ge.createPlacemark('');
	// Create the LineString; set it to extend down to the ground
	// and set the altitude mode
	waypointLines[id] = ge.createLineString('');
	waypointLinePlacemarks[id].setGeometry(waypointLines[id]);
	waypointLines[id].setExtrude(false);
	waypointLines[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
	waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
	lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
	lineStyle.setWidth(15);
	waypointLineColors[id] = color;
	lineStyle.getColor().set(color);  // aabbggrr format
	
	
	// Add waypoint line
	//waypointLines[id].setExtrude(false);
    //waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
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        // Create a style and set width and color of line
        //waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
        //lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
        //lineStyle.setWidth(15);
        //lineStyle.getColor().set(waypointLineColors[id]);  // aabbggrr format
        //lineStyle.getColor().set(color);  // aabbggrr format
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	// Add the feature to Earth
	ge.getFeatures().appendChild(waypointLinePlacemarks[id]);
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}

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function clearTrail(id)
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{
	ge.getFeatures().removeChild(trailPlacemarks[id]);
	trailPlacemarks[id] = null;
	var isVisible = trailsVisible[id];
	createTrail(id, trailColors[id]);
	if (isVisible)
	{
		showTrail(id);
	}
}

function hideTrail(id)
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{
	trailsVisible[id] = false;
	ge.getFeatures().removeChild(trailPlacemarks[id]);
}

function showTrail(id)
{
	ge.getFeatures().appendChild(trailPlacemarks[id]);
	trailsVisible[id] = true;
}

function setViewRange(dist)
{
	currViewRange = dist;
}

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function addTrailPosition(id, lat, lon, alt)
{
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	//trails[id].setExtrude(false);
    //trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
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    // Add LineString points
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	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
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}

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function initCallback(object)
{
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    ge = object;
    ge.getWindow().setVisibility(true);
    ge.getOptions().setStatusBarVisibility(true); 
    ge.getOptions().setScaleLegendVisibility(true);
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    //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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    enableEventListener();
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	document.getElementById('JScript_initialized').setAttribute('value','true');
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    initialized = true;
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}

function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
{
	if (id == currAircraft)
	{
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		if (lastLat == 0)
		{
			lastLat = currLat;
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			lastLon = currLon;
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		}
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		currLat = lat;
		currLon = lon;
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		var trueGroundAlt = ge.getGlobe().getGroundAltitude(lat, lon);
		if (trueGroundAlt < alt)
		{
		  currAlt = alt;
	    }
	    else
	    {
	      currAlt = trueGroundAlt+0.1;
	    }
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		// 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;
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		//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
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		// 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);
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		currFollowHeading = ((yaw/M_PI))*180.0;
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    	planeLoc.setLatitude(lastLat);
    	planeLoc.setLongitude(lastLon);
    	planeLoc.setAltitude(lastAlt);
    	planeModel.setLocation(planeLoc);
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    	if (followEnabled) updateFollowAircraft();
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    }
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}

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function enableDaylight(enabled)
{
	if(enabled)
	{
		ge.getSun().setVisibility(true);
	}
	else
	{
		ge.getSun().setVisibility(false);
	}
}
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function enableAtmosphere(enabled)
{
	ge.getOptions().setAtmosphereVisibility(enabled);
}
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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);
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}
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function setCurrentAircraft(id)
{
	currAircraft = id;
}

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/** @brief Set the current view mode
 *
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 * @param mode 0: side map view, 1: top/north map view, 2: fixed chase cam, 3: free chase cam
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 */
function setViewMode(mode)
{
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	var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
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	if (mode == 0)
	{
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		currView.setTilt(lastTilt);
		currView.setHeading(lastHeading);
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	}
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	if (mode == 1 && viewMode != mode)
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	{
		lastTilt = currView.getTilt();
		lastHeading = currView.getHeading();
		currView.setTilt(0);
		currView.setHeading(0);
	}
	
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	viewMode = mode;
	
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	ge.getView().setAbstractView(currView);
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}

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function updateFollowAircraft()
{
	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
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	currView.setLatitude(lastLat);
	currView.setLongitude(lastLon);
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	if (distanceMode == 1)
	{
		var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat, lastLon);
		currView.setAltitude(groundAltitude);
	}
	
	if (distanceMode == 0) currView.setAltitude(lastAlt);
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	currView.setRange(currViewRange);
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	if (viewMode != 3) // VIEW_MODE_CHASE_FREE
	{
		currView.setTilt(currFollowTilt);
		currView.setHeading(currFollowHeading);
	}
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	ge.getView().setAbstractView(currView);
}

function failureCallback(object)
{
}
</script>


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    <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>
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	<input type="hidden" id="JScript_initialized" value="false" />
    <input type="hidden" id="JScript_dragWaypointIndex" value="0" />
	<input type="hidden" id="JScript_dragWaypointLatitude" value="0" />
	<input type="hidden" id="JScript_dragWaypointLongitude" value="0" />
	<input type="hidden" id="JScript_dragWaypointAltitude" value="0" />
	<input type="hidden" id="JScript_dragWaypointPending" value="false" />
	<input type="hidden" id="JScript_newWaypointLatitude" value="0" />
	<input type="hidden" id="JScript_newWaypointLongitude" value="0" />
	<input type="hidden" id="JScript_newWaypointAltitude" value="0" />
	<input type="hidden" id="JScript_newWaypointPending" value="false" />
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	<input type="hidden" id="JScript_currentCameraLatitude" value="0" />
	<input type="hidden" id="JScript_currentCameraLongitude" value="0" />
	<input type="hidden" id="JScript_currentCameraGroundAltitude" value="0" />
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  </body>
</html>