From 14609cb8296619394162d32dc378e7b97d98c449 Mon Sep 17 00:00:00 2001
From: lm <pixhawk@student.ethz.ch>
Date: Wed, 29 Dec 2010 19:40:40 +0100
Subject: [PATCH] Fixed initialization of Google Earth, works now flawlessly.
 Further improvements needed on simulation link and Google Earth JavaScript.

---
 images/earth.html                  |  5 ++--
 src/comm/MAVLinkSimulationLink.cc  |  2 +-
 src/ui/map3D/QGCGoogleEarthView.cc | 43 ++++++++++++++++--------------
 3 files changed, 27 insertions(+), 23 deletions(-)

diff --git a/images/earth.html b/images/earth.html
index 535b8655e..cd788e764 100644
--- a/images/earth.html
+++ b/images/earth.html
@@ -27,7 +27,7 @@ var homeViewRange = 500;
 var homeLocation = null;
 var homeGroundLevel = 0;
 
-var currViewRange = 3.0;	///<< The current viewing range from this position (in meters)
+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;
@@ -183,7 +183,8 @@ function initCallback(object)
   ge.getWindow().setVisibility(true);
           ge.getOptions().setStatusBarVisibility(true); 
         ge.getOptions().setScaleLegendVisibility(true);
-        ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT); 
+		ge.getOptions().setFlyToSpeed(5.0); 
+        //ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT); 
         ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
         
         ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true); 
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index 50bf6c1fc..5051fa1eb 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -413,7 +413,7 @@ void MAVLinkSimulationLink::mainloop()
 //        streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.002), 8.54899892510421+(y*0.002), z+35.0, 0, 0, 0);
+        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.0005), 8.54899892510421+(y*0.0005), z+35.0, 0, 0, 0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index 01f2dd0f4..669d468e0 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -29,7 +29,7 @@
 QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
         QWidget(parent),
         updateTimer(new QTimer(this)),
-        refreshRateMs(80),
+        refreshRateMs(60),
         mav(NULL),
         followCamera(true),
         trailEnabled(true),
@@ -108,7 +108,8 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
 void QGCGoogleEarthView::addUAS(UASInterface* uas)
 {
     // uasid, type, color (in aarrbbgg format)
-    javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50")));
+	//javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50")));
+    javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg("0"));
     // Automatically receive further position updates
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
 }
@@ -189,7 +190,7 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
                 // Reloading the webpage, this resets Google Earth
                 gEarthInitialized = false;
 
-                QTimer::singleShot(1000, this, SLOT(initializeGoogleEarth()));
+                QTimer::singleShot(2000, this, SLOT(initializeGoogleEarth()));
                 updateTimer->start(refreshRateMs);
             }
     }
@@ -208,8 +209,7 @@ QVariant QGCGoogleEarthView::javaScript(QString javaScript)
 #ifdef _MSC_VER
 	if(!jScriptInitialized)
 	{
-		// Inititalize and drop call
-		initializeGoogleEarth();
+		qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING";
 		return QVariant(false);
 	}
 	else
@@ -224,22 +224,13 @@ QVariant QGCGoogleEarthView::javaScript(QString javaScript)
 
 void QGCGoogleEarthView::initializeGoogleEarth()
 {
-    if (!gEarthInitialized)
-    {
-#ifdef Q_OS_MAC
-        if (!webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
-        {
+	if (!jScriptInitialized)
+	{
+		#ifdef Q_OS_MAC
+	jScriptInitialized = true;
 #endif
-#ifdef _MSC_VER
-		static bool first = true;
-		if (first)
-        {
-            QTimer::singleShot(500, this, SLOT(initializeGoogleEarth()));
-			first = false;
-        }
-        else
-        {
-				QAxObject* doc = webViewWin->querySubObject("Document()");
+	#ifdef _MSC_VER
+						QAxObject* doc = webViewWin->querySubObject("Document()");
 				IDispatch* Disp;
 				IDispatch* winDoc = NULL;
 
@@ -266,7 +257,19 @@ void QGCGoogleEarthView::initializeGoogleEarth()
 					qDebug() << "COULD NOT GET DOCUMENT OBJECT! Aborting";
 				}
 #endif
+				QTimer::singleShot(2500, this, SLOT(initializeGoogleEarth()));
+				return;
+}
 
+    if (!gEarthInitialized)
+    {
+		if (0 == 1)//(!javaScript("isInitialized();").toBool())
+		{
+			QTimer::singleShot(500, this, SLOT(initializeGoogleEarth()));
+			qDebug() << "NOT INITIALIZED, WAITING";
+		}
+        else
+        {
             // Set home location
             setHome(47.3769, 8.549444, 500);
 
-- 
2.22.0