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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">

<html>
  <head>
  <meta http-equiv="content-type" content="text/html; charset=utf-8" />
  <!-- <head> -->
<!-- QGroundControl -->
    <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 ge = null;
var initialized = false;
var currAircraft = 220;
var followEnabled = false;

var lastLat = 0;
var lastLon = 0;
var lastAlt = 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 aircraft = [];
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;

// Aircraft class
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;
}

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;
	    }
}

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
	
}

function createAircraft(id, type, color)
{
	      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;
          aircraftLocations[id] = planeLoc;
		  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();
lineStyle.setWidth(5);
trailColors[id] = color;
lineStyle.getColor().set('00000000');  // aabbggrr format

trailsVisible[id] = false;

// Add the feature to Earth
//ge.getFeatures().appendChild(trailPlacemarks[id]);

}

function clearTrail(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);
    trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);

    // Add LineString points
	trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);

    // 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

    // Add the feature to Earth
    if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
}

function initCallback(object)
{
    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); 
    ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
        
    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);

    initialized = true;
}

function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
{
	if (id == currAircraft)
	{
		if (lastLat == 0)
		{
			lastLat = currLat;
			lastLon = currLon;
		}
		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;
    
    planeLoc.setLatitude(lastLat);
    planeLoc.setLongitude(lastLon);
    planeLoc.setAltitude(lastAlt);
    planeModel.setLocation(planeLoc);
    
    if (followEnabled) updateFollowAircraft();
    }
}

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>