Fully working drag and drop for Google Earth

images/earth.html

@@ -37,6 +37,11 @@ var currTilt = 40.0;		///<< The tilt angle (in degrees)
 var currFollowTilt = 40.0;
 var currView = null;
 
+var viewMode = 0;
+var lastTilt = 0;
+var lastRoll = 0;
+var lastHeading = 0;
+
 var M_PI = 3.14159265;
 
 
@@ -486,11 +491,34 @@ function setCurrentAircraft(id)
 
 /** @brief Set the current view mode
  *
- * @param mode 0: map view, 1: chase cam, fixed, 2: chase cam, free
+ * @param mode 0: side map view, 1: top/north map view, 2: fixed chase cam, 3: free chase cam
  */
 function setViewMode(mode)
 {
-
+	viewMode = mode;
+	
+	var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+	
+	if (mode == 0)
+	{
+		currView.setTilt(0);
+		currView.setHeading(0);
+	}
+	if (mode == 1)
+	{
+		lastTilt = currView.getTilt();
+		lastHeading = currView.getHeading();
+		var lastLat2 = currView.getLatitude();
+		var lastLon2 = currView.getLongitude();
+		var lastAlt2 = currView.getAltitude();
+		currView.setTilt(0);
+		currView.setHeading(0);
+		currView.setLatitude(lastLat2);
+		currView.setLongitude(lastLon2);
+		currView.setAltitude(lastAlt2);
+	}
+	
+	ge.getView().setAbstractView(currView);
 }
 
 function updateFollowAircraft()

src/uas/UAS.cc

@@ -661,7 +661,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                         alt = 0;
                         emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                     }
-                    emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E7, time);
+                    emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
                     // Smaller than threshold and not NaN
                     if (pos.v < 1000000 && pos.v == pos.v)
                     {

src/ui/QGCParamWidget.cc

@@ -258,7 +258,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
 
     bool justWritten = false;
     bool writeMismatch = false;
-    bool lastWritten = false;
+    //bool lastWritten = false;
     // Mark this parameter as received in write ACK list
     QMap<QString, float>* map = transmissionMissingWriteAckPackets.value(component);
     if (map && map->contains(parameterName))

src/ui/WaypointView.ui

@@ -161,7 +161,7 @@ QProgressBar::chunk#thrustBar {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,2,2,10,10,10,10,10,10,10,10,10,10,10,10,10,1,1,1,1">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,2,3,10,10,10,10,10,10,10,10,10,10,10,10,10,1,1,1,1">
       <property name="spacing">
        <number>2</number>
       </property>

src/ui/map3D/QGCGoogleEarthView.cc

@@ -38,6 +38,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
         webViewInitialized(false),
         jScriptInitialized(false),
         gEarthInitialized(false),
+        currentViewMode(QGCGoogleEarthView::VIEW_MODE_SIDE),
 #if (defined Q_OS_MAC)
         webViewMac(new QWebView(this)),
 #endif
@@ -85,6 +86,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
 
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
     connect(ui->resetButton, SIGNAL(clicked()), this, SLOT(reloadHTML()));
+    connect(ui->changeViewButton, SIGNAL(clicked()), this, SLOT(toggleViewMode()));
 }
 
 QGCGoogleEarthView::~QGCGoogleEarthView()
@@ -127,6 +129,46 @@ void QGCGoogleEarthView::setViewRange(float range)
     javaScript(QString("setViewRange(%1);").arg(range, 0, 'f', 5));
 }
 
+void QGCGoogleEarthView::toggleViewMode()
+{
+    switch (currentViewMode)
+    {
+    case VIEW_MODE_MAP:
+        setViewMode(VIEW_MODE_SIDE);
+        break;
+    case VIEW_MODE_SIDE:
+        setViewMode(VIEW_MODE_MAP);
+        break;
+    case VIEW_MODE_CHASE_LOCKED:
+        setViewMode(VIEW_MODE_CHASE_FREE);
+        break;
+    case VIEW_MODE_CHASE_FREE:
+        setViewMode(VIEW_MODE_CHASE_LOCKED);
+        break;
+    }
+}
+
+void QGCGoogleEarthView::setViewMode(QGCGoogleEarthView::VIEW_MODE mode)
+{
+    switch (mode)
+    {
+    case VIEW_MODE_MAP:
+        ui->changeViewButton->setText("Free View");
+        break;
+    case VIEW_MODE_SIDE:
+        ui->changeViewButton->setText("Map View");
+        break;
+    case VIEW_MODE_CHASE_LOCKED:
+        ui->changeViewButton->setText("Free Chase");
+        break;
+    case VIEW_MODE_CHASE_FREE:
+        ui->changeViewButton->setText("Fixed Chase");
+        break;
+    }
+    currentViewMode = mode;
+    javaScript(QString("setViewMode(%1);").arg(mode));
+}
+
 void QGCGoogleEarthView::addUAS(UASInterface* uas)
 {
     // uasid, type, color (in #rrbbgg format)
@@ -183,7 +225,7 @@ void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp)
         else
         {
             javaScript(QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction()));
-            qDebug() << QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction());
+            //qDebug() << QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction());
         }
     }
 }
@@ -453,6 +495,9 @@ void QGCGoogleEarthView::initializeGoogleEarth()
             // Start update timer
             updateTimer->start(refreshRateMs);
 
+            // Set current view mode
+            setViewMode(currentViewMode);
+
             follow(this->followCamera);
 
             gEarthInitialized = true;

src/ui/map3D/QGCGoogleEarthView.h

@@ -71,6 +71,14 @@ public:
     explicit QGCGoogleEarthView(QWidget *parent = 0);
     ~QGCGoogleEarthView();
 
+    enum VIEW_MODE
+    {
+        VIEW_MODE_SIDE, ///< View from above, orientation is free
+        VIEW_MODE_MAP, ///< View from above, orientation is north (map view)
+        VIEW_MODE_CHASE_LOCKED, ///< Locked chase camera
+        VIEW_MODE_CHASE_FREE, ///< Position is chasing object, but view can rotate around object
+    };
+
 public slots:
     /** @brief Update the internal state. Does not trigger a redraw */
     void updateState();
@@ -96,6 +104,10 @@ public slots:
     void setHome(double lat, double lon, double alt);
     /** @brief Set camera view range to aircraft in meters */
     void setViewRange(float range);
+    /** @brief Set the view mode */
+    void setViewMode(VIEW_MODE mode);
+    /** @brief Toggle through the different view modes */
+    void toggleViewMode();
     /** @brief Set camera view range to aircraft in centimeters */
     void setViewRangeScaledInt(int range);
     /** @brief Reset Google Earth View */
@@ -123,6 +135,7 @@ protected:
     bool webViewInitialized;
     bool jScriptInitialized;
     bool gEarthInitialized;
+    VIEW_MODE currentViewMode;
 #ifdef _MSC_VER
     QGCWebAxWidget* webViewWin;
     QAxObject* jScriptWin;

src/ui/map3D/QGCGoogleEarthView.ui

@@ -23,7 +23,7 @@
    <property name="margin">
     <number>2</number>
    </property>
-   <item row="0" column="0" colspan="13">
+   <item row="0" column="0" colspan="14">
     <layout class="QVBoxLayout" name="webViewLayout"/>
    </item>
    <item row="1" column="1">
@@ -58,7 +58,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="12">
+   <item row="1" column="13">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -180,13 +180,20 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="11">
+   <item row="1" column="12">
     <widget class="QPushButton" name="resetButton">
      <property name="text">
       <string>Reset</string>
      </property>
     </widget>
    </item>
+   <item row="1" column="11">
+    <widget class="QPushButton" name="changeViewButton">
+     <property name="text">
+      <string>Overhead</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>