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Commit 259845de authored by oberion's avatar oberion
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Merge remote-tracking branch 'remotes/pixhawk/v10release' into dev_senseSoarMavlinkv10

parents 77bf8dc6 ba326ee6
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Showing with 826 additions and 63 deletions
images/earth-singlesystem.html 0 → 100644
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images/earth.html
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......@@ -11,16 +11,15 @@
<script type="text/javascript" src="https://www.google.com/jsapi?key=ABQIAAAA5Q6wxQ6lxKS8haLVdUJaqhSjosg_0jiTTs2iXtkDVG0n0If1mBRHzhWw5VqBZX-j4NuzoVpU-UaHVg"></script>
<script type="text/javascript">
google.load("earth", "1", { 'language': 'en'});
var ge = null;
var initialized = false;
var currAircraft = 0;
var followEnabled = false;
var lineAltitudeOffset = 0.5; ///< 0.5 m higher than waypoint, prevents the line from entering the ground
var lastLat = 0;
var lastLon = 0;
var lastAlt = 0;
var lastLat = [];
var lastLon = [];
var lastAlt = [];
var currLat = 47.3769;
var currLon = 8.549444;
var currAlt = 470;
......@@ -59,6 +58,9 @@ var planeLoc;
var aircraft = [];
var aircraftLocations = [];
var aircraftLastLocations = [];
var aircraftScaleFactors = [];
var aircraftLinks = [];
var aircraftModels = [];
var attitudes = [];
var locations = [];
var trails = [];
......@@ -104,7 +106,6 @@ var homePlacemark = null;
var heightMapPlacemark = null;
var heightMapModel = null;
function getGlobal(variable)
{
return variable;
......@@ -303,7 +304,6 @@ function setGCSHome(lat, lon, alt)
homeLon = lon;
homeAlt = alt;
if (homePlacemark == null)
{
var placemark = ge.createPlacemark('');
......@@ -413,39 +413,39 @@ function updateWaypoint(id, index, lat, lon, alt, action)
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);
aircraft[id] = ge.createPlacemark('');
aircraft[id].setName('aircraft');
aircraftModels[id] = ge.createModel('');
ge.getFeatures().appendChild(aircraft[id]);
aircraftLocations[id] = ge.createLocation('');
aircraftModels[id].setLocation(aircraftLocations[id]);
aircraftLinks[id] = ge.createLink('');
attitudes[id] = ge.createOrientation('');
aircraftModels[id].setOrientation(attitudes[id]);
var factor = 1.0;
aircraftScaleFactors[id] = 1.0;
//planeLink.setHref('http://www.asl.ethz.ch/people/rudink/senseSoarDummy.dae');
planeLink.setHref('http://qgroundcontrol.org/_media/users/models/sfly-hex.dae');
factor = 1.0/1000.0;
aircraftLinks[id].setHref('http://qgroundcontrol.org/_media/users/models/sfly-hex.dae');
aircraftScaleFactors[id] = 1.0/1000.0;
//planeLink.setHref('http://qgroundcontrol.org/_media/users/models/ascent-park-glider.dae');
planeModel.setLink(planeLink);
var scale = planeModel.getScale();
scale.set(scale.getX()*factor, scale.getY()*factor, scale.getZ()*factor)
planeModel.setScale(scale);
planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
aircraftModels[id].setLink(aircraftLinks[id]);
var scale = aircraftModels[id].getScale();
scale.set(scale.getX()*aircraftScaleFactors[id], scale.getY()*aircraftScaleFactors[id], scale.getZ()*aircraftScaleFactors[id])
aircraftModels[id].setScale(scale);
aircraftModels[id].setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
planeLoc.setLatitude(currLat);
planeLoc.setLongitude(currLon);
planeLoc.setAltitude(currAlt);
aircraftLocations[id].setLatitude(currLat);
aircraftLocations[id].setLongitude(currLon);
aircraftLocations[id].setAltitude(currAlt);
planePlacemark.setGeometry(planeModel);
aircraft[id].setGeometry(aircraftModels[id]);
// Write into global structure
aircraft[id] = planePlacemark;
attitudes[id] = planeOrient;
aircraftLocations[id] = planeLoc;
aircraftLastLocations[id] = ge.createLocation('');
aircraftLastLocations[id] = aircraftLocations[id];
lastLat[id] = 0;
lastLon[id] = 0;
lastAlt[id] = 0;
createTrail(id, color);
createWaypointLine(id, color);
......@@ -565,13 +565,12 @@ function initCallback(object)
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
enableEventListener();
document.getElementById('JScript_initialized').setAttribute('value','true');
// Load heightmap
// http://www.inf.ethz.ch/personal/lomeier/data/untex-environment.dae
heightMapPlacemark = ge.createPlacemark('');
/*heightMapPlacemark = ge.createPlacemark('');
heightMapPlacemark.setName('aircraft');
heightMapModel = ge.createModel('');
ge.getFeatures().appendChild(heightMapPlacemark);
......@@ -593,51 +592,56 @@ function initCallback(object)
planeLoc.setLongitude(currLon);
planeLoc.setAltitude(currAlt);
heightMapPlacemark.setGeometry(heightMapModel);
heightMapPlacemark.setGeometry(heightMapModel);*/
enableEventListener();
document.getElementById('JScript_initialized').setAttribute('value','true');
initialized = true;
}
function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
{
if (lastLat[id] == 0)
{
lastLat[id] = lat;
lastLon[id] = lon;
}
if (id == currAircraft)
{
if (lastLat == 0)
{
lastLat = currLat;
lastLon = currLon;
}
currFollowHeading = currFollowHeading*0.95+0.05*(((yaw/M_PI))*180.0);
currLat = lat;
currLon = lon;
var trueGroundAlt = ge.getGlobe().getGroundAltitude(lat, lon);
if (trueGroundAlt < alt)
{
currAlt = alt;
currAlt = alt;
}
else
{
currAlt = trueGroundAlt+0.1;
currAlt = trueGroundAlt+0.1;
}
// Interpolate between t-1 and t and set new states
lastLat = lastLat*0.5+currLat*0.5;
lastLon = lastLon*0.5+currLon*0.5;
lastAlt = lastAlt*0.5+currAlt*0.5;
}
// Interpolate between t-1 and t and set new states
//lastLat[id] = lastLat[id]*0.5+lat*0.5;
//lastLon[id] = lastLon[id]*0.5+lon*0.5;
//lastAlt[id] = lastAlt[id]*0.5+alt*0.5;
planeOrient.setRoll(+((roll/M_PI))*180.0);
planeOrient.setTilt(-((pitch/M_PI))*180.0);
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
planeModel.setOrientation(planeOrient);
lastLat[id] = lastLat[id]*0.5+lat*0.5;
lastLon[id] = lastLon[id]*0.5+lon*0.5;
lastAlt[id] = lastAlt[id]*0.5+alt*0.5;
currFollowHeading = currFollowHeading*0.95+0.05*(((yaw/M_PI))*180.0);
attitudes[id].setRoll(+((roll/M_PI))*180.0);
attitudes[id].setTilt(-((pitch/M_PI))*180.0);
attitudes[id].setHeading(((yaw/M_PI))*180.0-90.0);
aircraftModels[id].setOrientation(attitudes[id]);
planeLoc.setLatitude(lastLat);
planeLoc.setLongitude(lastLon);
planeLoc.setAltitude(lastAlt);
planeModel.setLocation(planeLoc);
aircraftLocations[id].setLatitude(lastLat[id]);
aircraftLocations[id].setLongitude(lastLon[id]);
aircraftLocations[id].setAltitude(lastAlt[id]);
aircraftModels[id].setLocation(aircraftLocations[id]);
if (followEnabled) updateFollowAircraft();
}
if (followEnabled && id == currAircraft) updateFollowAircraft();
}
function enableDaylight(enabled)
......@@ -703,16 +707,16 @@ function setViewMode(mode)
function updateFollowAircraft()
{
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
currView.setLatitude(lastLat);
currView.setLongitude(lastLon);
currView.setLatitude(lastLat[currAircraft]);
currView.setLongitude(lastLon[currAircraft]);
if (distanceMode == 1)
{
var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat, lastLon);
var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat[currAircraft], lastLon[currAircraft]);
currView.setAltitude(groundAltitude);
}
if (distanceMode == 0) currView.setAltitude(lastAlt);
if (distanceMode == 0) currView.setAltitude(lastAlt[currAircraft]);
currView.setRange(currViewRange);
......
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