Added smoothing of Google Earth positions

images/earth.html

@@ -45,6 +45,8 @@ var planeOrient;
 var planeLoc;
 
 var aircraft = [];
+var aircraftLocations = [];
+var aircraftLastLocations = [];
 var attitudes = [];
 var locations = [];
 var trails = [];
@@ -134,7 +136,8 @@ function createAircraft(id, type, color)
           // Write into global structure
           aircraft[id] = planePlacemark;
           attitudes[id] = planeOrient;
-          locations[id] = planeLoc;
+          aircraftLocations[id] = planeLoc;
+		  aircraftLastLocations[id] = ge.createLocation('');
           //planeColor = color;
           
           createTrail(id, color);
@@ -192,7 +195,7 @@ function addTrailPosition(id, lat, lon, alt)
 trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
-trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
+	trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
 
 // Create a style and set width and color of line
 trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
@@ -238,18 +241,18 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
 		currLon = lon;
 		currAlt = alt;
 		//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)+1.0)*360.0);
 	planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
 	planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
-        
+    }
         
                 
-    planeLoc.setLatitude(lat);
-    planeLoc.setLongitude(lon);
-    planeLoc.setAltitude(alt);
+    //planeLoc.setLatitude(lat);
+    //planeLoc.setLongitude(lon);
+    //planeLoc.setAltitude(alt);
 	
 }
 
@@ -284,18 +287,24 @@ function setCurrentAircraft(id)
 function updateFollowAircraft()
 {
 	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
-	// Interpolate
-	currView.setLatitude(lastLat*0.7+currLat*0.3);
-	currView.setLongitude(lastLon*0.7+currLon*0.3);
-	currView.setAltitude(lastAlt*0.7+currAlt*0.3);
-	// Set new states
+	// Interpolate between t-1 and t and set new states
 	lastLat = lastLat*0.7+currLat*0.3;
 	lastLon = lastLon*0.7+currLon*0.3;
 	lastAlt = lastAlt*0.7+currAlt*0.3;
+	currView.setLatitude(lastLat);
+	currView.setLongitude(lastLon);
+	currView.setAltitude(lastAlt);
+
 	currView.setRange(currViewRange);
 	currView.setTilt(currFollowTilt);
 	currFollowHeading = 0;// 0.9*currFollowHeading+0.1*((Math.atan2(lastLat-currLat, lastLon-currLon)/M_PI)+1.0)*360.0;
 	currView.setHeading(currFollowHeading-0.0);
+	
+	// FIXME Shouldn't update aircraft in here, but works for now
+	planeLoc.setLatitude(lastLat);
+    planeLoc.setLongitude(lastLon);
+    planeLoc.setAltitude(lastAlt);
+	
 	ge.getView().setAbstractView(currView);
 }
 

qgroundcontrol.pri

@@ -58,12 +58,18 @@ macx {
                 debug {
                         #QMAKE_CXXFLAGS += -finstrument-functions
                         #LIBS += -lSaturn
+                        CONFIG += console
                 }
     } else {
         # x64 Mac OS X Snow Leopard 10.6 and later
         CONFIG += x86_64 cocoa
         CONFIG -= x86 phonon
         message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
+                debug {
+                        #QMAKE_CXXFLAGS += -finstrument-functions
+                        #LIBS += -lSaturn
+                        CONFIG += console
+                }
     }
 
     QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
@@ -151,12 +157,13 @@ linux-g++ {
 
     debug {
         DESTDIR = $$TARGETDIR/debug
-        CONFIG += debug
+        CONFIG += debug console
     }
 
     release {
         DESTDIR = $$TARGETDIR/release
         DEFINES += QT_NO_DEBUG
+        CONFIG -= console
     }
 
     QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@@ -221,12 +228,13 @@ linux-g++-64 {
 
     debug {
         DESTDIR = $$TARGETDIR/debug
-        CONFIG += debug
+        CONFIG += debug console
     }
 
     release {
         DESTDIR = $$TARGETDIR/release
         DEFINES += QT_NO_DEBUG
+        CONFIG -= console
     }
 
     QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.

qgroundcontrol.pro

@@ -39,7 +39,6 @@ BASEDIR = $$IN_PWD
 TARGETDIR = $$OUT_PWD
 BUILDDIR = $$TARGETDIR/build
 LANGUAGE = C++
-CONFIG += console
 OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated