From 8838c74b2d2f7cfc4c8bae84bfefb279e5bf0b90 Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@student.ethz.ch>
Date: Fri, 31 Dec 2010 14:54:23 +0100
Subject: [PATCH] Google earth working, ready for last fixes and performance
 testing.

---
 images/earth.html                  |  68 +++++++++++------
 qgroundcontrol.pro                 |   1 -
 src/GAudioOutput.cc                |  45 ++++++++++-
 src/GAudioOutput.h                 |   5 ++
 src/comm/MAVLinkSimulationLink.cc  |  24 ++++++
 src/comm/MAVLinkSimulationLink.h   |   2 +-
 src/uas/ArduPilotMegaMAV.cc        |   4 +-
 src/uas/UASInterface.h             |   4 +-
 src/ui/MainWindow.cc               |   3 +
 src/ui/MainWindow.ui               |  19 ++++-
 src/ui/map3D/QGCGoogleEarthView.cc | 118 ++++++++++++++++++++++-------
 src/ui/map3D/QGCGoogleEarthView.h  |  42 +++++-----
 src/ui/map3D/QGCGoogleEarthView.ui |  51 ++++++++++++-
 13 files changed, 300 insertions(+), 86 deletions(-)

diff --git a/images/earth.html b/images/earth.html
index 0ab8487b0..a3087fd3b 100644
--- a/images/earth.html
+++ b/images/earth.html
@@ -7,6 +7,7 @@
 <!-- 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'});
@@ -46,8 +47,10 @@ var aircraft = [];
 var attitudes = [];
 var locations = [];
 var trails = [];
-var trail;
-var lineStringPlacemark;
+var trailPlacemarks = [];
+var trailsVisible = [];
+var trailColors = [];
+//var trailPlacemarks[id];
 var lineStyle;
 
 // Aircraft class
@@ -133,54 +136,72 @@ function createAircraft(id, type, color)
           locations[id] = planeLoc;
           //planeColor = color;
           
-          //createTrail(id, color);
+          createTrail(id, color);
+          console.log(color);
 }
 
 function createTrail(id, color)
 {
-          lineStringPlacemark = ge.createPlacemark('');
+          trailPlacemarks[id] = ge.createPlacemark('');
           // Create the placemark
 // Create the LineString; set it to extend down to the ground
 // and set the altitude mode
-trail = ge.createLineString('');
-lineStringPlacemark.setGeometry(trail);
-trail.setExtrude(false);
-trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+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
-lineStringPlacemark.setStyleSelector(ge.createStyle(''));
-lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
 lineStyle.setWidth(5);
-lineStyle.getColor().set(planeColor);  // aabbggrr format
-//lineStyle.getColor().set(color);
-//lineStyle.getColor().set(color);  // aabbggrr format
+trailColors[id] = color;
+lineStyle.getColor().set('00000000');  // aabbggrr format
+
+trailsVisible[id] = false;
 
 // Add the feature to Earth
-ge.getFeatures().appendChild(lineStringPlacemark);
+//ge.getFeatures().appendChild(trailPlacemarks[id]);
 
 }
 
+function hideTrail(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)
 {
-	trail.setExtrude(false);
-trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+	trails[id].setExtrude(false);
+trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
-//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
-trail.getCoordinates().pushLatLngAlt(currLat, currLon, currAlt);
+trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
 
 // Create a style and set width and color of line
-lineStringPlacemark.setStyleSelector(ge.createStyle(''));
-lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
 lineStyle.setWidth(5);
-lineStyle.getColor().set(planeColor);  // aabbggrr format
+lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
 //lineStyle.getColor().set(color);  // aabbggrr format
 
 // Add the feature to Earth
-ge.getFeatures().replaceChild(lineStringPlacemark, lineStringPlacemark);
+if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
 }
 
 function initCallback(object)
@@ -198,9 +219,6 @@ function initCallback(object)
         ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true); 
         ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
 
-        createTrail(220, 'bb2222ff');
-        createAircraft(220);
-
         initialized = true;
         
         
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 443a94c5e..01348b2cb 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -145,7 +145,6 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCWebView.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
     src/ui/map3D/QGCGoogleEarthViewWin.ui \
-    src/ui/map3D/QGCGoogleEarthControls.ui \
     src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsHilSim.ui \
     src/ui/SlugsPIDControl.ui \
diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index 2bdf16ab8..87c66503a 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include <QApplication>
+#include <QSettings>
 #include <QTemporaryFile>
 #include "GAudioOutput.h"
 #include "MG.h"
@@ -85,10 +86,19 @@ GAudioOutput* GAudioOutput::instance()
     return _instance;
 }
 
+#define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
+
 GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
 voiceIndex(0),
-emergency(false)
+emergency(false),
+muted(false)
 {
+    // Load settings
+    QSettings settings;
+    settings.sync();
+    muted = settings.value(QGC_GAUDIOOUTPUT_KEY+"muted", muted).toBool();
+
+
 #ifdef Q_OS_LINUX
     flite_init();
 #endif
@@ -134,13 +144,28 @@ emergency(false)
 
 GAudioOutput::~GAudioOutput()
 {
+    QSettings settings;
+    settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", muted);
+    settings.sync();
 #ifdef _MSC_VER2
 	::CoUninitialize();
 #endif
 }
 
+void GAudioOutput::mute(bool mute)
+{
+    this->muted = mute;
+}
+
+bool GAudioOutput::isMuted()
+{
+    return this->muted;
+}
+
 bool GAudioOutput::say(QString text, int severity)
 {
+    if (!muted)
+    {
     // TODO Add severity filter
     Q_UNUSED(severity);
     bool res = false;
@@ -183,13 +208,18 @@ bool GAudioOutput::say(QString text, int severity)
     }
     return res;
 }
+    else
+    {
+        return false;
+    }
+}
 
 /**
  * @param text This message will be played after the alert beep
  */
 bool GAudioOutput::alert(QString text)
 {
-    if (!emergency)
+    if (!emergency || !muted)
     {
         // Play alert sound
         beep();
@@ -205,19 +235,25 @@ bool GAudioOutput::alert(QString text)
 
 void GAudioOutput::notifyPositive()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 void GAudioOutput::notifyNegative()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 /**
  * The emergency sound will be played continously during the emergency.
@@ -232,7 +268,7 @@ bool GAudioOutput::startEmergency()
     {
         emergency = true;
         // Beep immediately and then start timer
-        beep();
+        if (!muted) beep();
         emergencyTimer->start(1500);
         QTimer::singleShot(5000, this, SLOT(stopEmergency()));
     }
@@ -257,11 +293,14 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 void GAudioOutput::selectFemaleVoice()
 {
diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h
index 349e99652..a4889829d 100644
--- a/src/GAudioOutput.h
+++ b/src/GAudioOutput.h
@@ -99,6 +99,10 @@ public slots:
     void notifyPositive();
     /** @brief Notify about negative event */
     void notifyNegative();
+    /** @brief Mute/unmute sound */
+    void mute(bool mute);
+    /** @brief Get the mute state */
+    bool isMuted();
 
 protected:
 #ifdef Q_OS_MAC
@@ -112,6 +116,7 @@ protected:
     Phonon::AudioOutput* m_audioOutput;
     bool emergency;   ///< Emergency status flag
     QTimer* emergencyTimer;
+    bool muted;
 private:
     GAudioOutput(QObject* parent=NULL);
 	~GAudioOutput();
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index abf1a5ecf..507b20b02 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -419,6 +419,20 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
+        // GLOBAL POSITION VEHICLE 2
+        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
+        //add data into datastream
+        memcpy(stream+streampointer,buffer, bufferlength);
+        streampointer += bufferlength;
+
+        // GLOBAL POSITION VEHICLE 3
+        mavlink_msg_global_position_int_pack(60, componentId, &ret, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
+        //add data into datastream
+        memcpy(stream+streampointer,buffer, bufferlength);
+        streampointer += bufferlength;
+
         static int rcCounter = 0;
         if (rcCounter == 2)
         {
@@ -594,6 +608,16 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
+        // HEARTBEAT VEHICLE 3
+
+        // Pack message and get size of encoded byte string
+        messageSize = mavlink_msg_heartbeat_pack(60, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK);
+        // Allocate buffer with packet data
+        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+        //add data into datastream
+        memcpy(stream+streampointer,buffer, bufferlength);
+        streampointer += bufferlength;
+
         // STATUS VEHICLE 2
         mavlink_sys_status_t status2;
         status2.mode = MAV_MODE_LOCKED;
diff --git a/src/comm/MAVLinkSimulationLink.h b/src/comm/MAVLinkSimulationLink.h
index 4e40139b3..5940d1aeb 100644
--- a/src/comm/MAVLinkSimulationLink.h
+++ b/src/comm/MAVLinkSimulationLink.h
@@ -128,7 +128,7 @@ protected:
     void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
 
     static const uint8_t systemId = 220;
-    static const uint8_t componentId = 0;
+    static const uint8_t componentId = 200;
     static const uint16_t version = 1000;
 
 signals:
diff --git a/src/uas/ArduPilotMegaMAV.cc b/src/uas/ArduPilotMegaMAV.cc
index f87ebc9dd..b2f9a7b1e 100644
--- a/src/uas/ArduPilotMegaMAV.cc
+++ b/src/uas/ArduPilotMegaMAV.cc
@@ -54,11 +54,11 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
         {
         case MAVLINK_MSG_ID_HEARTBEAT:
             {
-                qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
+                //qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
                 break;
             }
         default:
-            qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
+            //qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
             break;
         }
     }
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 332f90e44..ae577205e 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -126,6 +126,7 @@ public:
             ///> Map will start from beginning when the first 20 colors are exceeded
 
             colors.append(QColor(231,72,28));
+            colors.append(QColor(104,64,240));
             colors.append(QColor(203,254,121));
             colors.append(QColor(161,252,116));
             colors.append(QColor(232,33,47));
@@ -140,11 +141,10 @@ public:
             colors.append(QColor(87,231,246));
             colors.append(QColor(151,59,239));
             colors.append(QColor(81,183,244));
-            colors.append(QColor(104,64,240));
             colors.append(QColor(75,133,243));
             colors.append(QColor(242,255,128));
             colors.append(QColor(230,126,23));
-            nextColor++;
+            nextColor = 0;
         }
         return colors[nextColor++];
     }
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 325f627ab..8109230d6 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -110,6 +110,9 @@ MainWindow::MainWindow(QWidget *parent):
     connectCommonActions();
     // Add option for custom widgets
     connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
+    // Allow to mute audio
+    ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
+    connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
 
     // Set dock options
     setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index 934850a98..5eafe8d01 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -38,7 +38,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -47,6 +47,7 @@
     </property>
     <addaction name="actionJoystick_Settings"/>
     <addaction name="actionNewCustomWidget"/>
+    <addaction name="actionMuteAudioOutput"/>
     <addaction name="actionSimulate"/>
     <addaction name="separator"/>
     <addaction name="actionExit"/>
@@ -435,6 +436,22 @@
     <string>New Custom Widget</string>
    </property>
   </action>
+  <action name="actionMuteAudioOutput">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/status/audio-volume-high.svg</normaloff>
+     <normalon>:/images/status/audio-volume-muted.svg</normalon>
+     <activeon>:/images/status/audio-volume-muted.svg</activeon>
+     <selectedoff>:/images/status/audio-volume-high.svg</selectedoff>
+     <selectedon>:/images/status/audio-volume-muted.svg</selectedon>:/images/status/audio-volume-high.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Mute Audio Output</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index f18215657..aab70853b 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -81,19 +81,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
     ui->webViewLayout->addWidget(webViewWin);
 #endif
 
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
-
-    // Follow checkbox
-    ui->followAirplaneCheckbox->setChecked(followCamera);
-    connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)));
-
-    // Trail checkbox
-    ui->trailCheckbox->setChecked(trailEnabled);
-    connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)));
-
-    // Go home
-    connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
 }
 
 QGCGoogleEarthView::~QGCGoogleEarthView()
@@ -102,13 +90,45 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
     settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera);
     settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled);
     settings.sync();
+#if (defined Q_OS_MAC)
+        delete webViewMac;
+#endif
+#ifdef _MSC_VER
+        delete webViewWin;
+#endif
     delete ui;
 }
 
+/**
+ * @param range in centimeters
+ */
+void QGCGoogleEarthView::setViewRangeScaledInt(int range)
+{
+    setViewRange(range/100.0f);
+}
+
+/**
+ * @param range in meters (SI-units)
+ */
+void QGCGoogleEarthView::setViewRange(float range)
+{
+    javaScript(QString("setViewRange(%1);").arg(range, 0, 'f', 5));
+}
+
 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")));
+    // uasid, type, color (in #rrbbgg format)
+    QString uasColor = uas->getColor().name().remove(0, 1);
+    // Convert to bbggrr format
+    QString rChannel = uasColor.mid(0, 2);
+    uasColor.remove(0, 2);
+    uasColor.prepend(rChannel);
+    // Set alpha value to 0x66, append JavaScript quotes ('')
+    uasColor.prepend("'66").append("'");
+    javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uasColor));
+
+    if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID()));
+
     //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)));
@@ -123,7 +143,7 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
     }
 }
 
-void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
+void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec)
 {
     Q_UNUSED(usec);
     javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
@@ -133,6 +153,26 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
 
 void QGCGoogleEarthView::showTrail(bool state)
 {
+    // Check if the current trail has to be hidden
+    if (trailEnabled && !state)
+    {
+        QList<UASInterface*> mavs = UASManager::instance()->getUASList();
+        foreach (UASInterface* currMav, mavs)
+        {
+            javaScript(QString("hideTrail(%1);").arg(currMav->getUASID()));
+        }
+    }
+
+    // Check if the current trail has to be shown
+    if (!trailEnabled && state)
+    {
+        QList<UASInterface*> mavs = UASManager::instance()->getUASList();
+        foreach (UASInterface* currMav, mavs)
+        {
+            javaScript(QString("showTrail(%1);").arg(currMav->getUASID()));
+        }
+    }
+    trailEnabled = state;
     ui->trailCheckbox->setChecked(state);
 }
 
@@ -173,7 +213,9 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
     Q_UNUSED(event)
     {
         // Enable widget, initialize on first run
-        if (!webViewInitialized)
+
+        // FIXME Re-inits now on every visibility change
+        //if (!webViewInitialized)
         {
 #if (defined Q_OS_MAC)
             webViewMac->setPage(new QGCWebPage(webViewMac));
@@ -276,18 +318,36 @@ void QGCGoogleEarthView::initializeGoogleEarth()
             // Move to home location
             goHome();
 
-            // Set current UAS
-            setActiveUAS(mav);
-
             // Add all MAVs
             QList<UASInterface*> mavs = UASManager::instance()->getUASList();
-            foreach (UASInterface* mav, mavs)
+            foreach (UASInterface* currMav, mavs)
             {
-                addUAS(mav);
+                addUAS(currMav);
             }
 
+            // Set current UAS
+            setActiveUAS(UASManager::instance()->getActiveUAS());
+
             // Add any further MAV automatically
             connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+            connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+
+            // Connect UI signals/slots
+
+            // Follow checkbox
+            ui->followAirplaneCheckbox->setChecked(followCamera);
+            connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)));
+
+            // Trail checkbox
+            ui->trailCheckbox->setChecked(trailEnabled);
+            connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)));
+
+            // Go home
+            connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
+
+            // Cam distance slider
+            connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int)));
+            setViewRangeScaledInt(ui->camDistanceSlider->value());
 
             gEarthInitialized = true;
         }
@@ -312,15 +372,15 @@ void QGCGoogleEarthView::updateState()
 
         // Update all MAVs
         QList<UASInterface*> mavs = UASManager::instance()->getUASList();
-        foreach (UASInterface* mav, mavs)
+        foreach (UASInterface* currMav, mavs)
         {
-            uasId = mav->getUASID();
-            lat = mav->getLatitude();
-            lon = mav->getLongitude();
-            alt = mav->getAltitude();
-            roll = mav->getRoll();
-            pitch = mav->getPitch();
-            yaw = mav->getYaw();
+            uasId = currMav->getUASID();
+            lat = currMav->getLatitude();
+            lon = currMav->getLongitude();
+            alt = currMav->getAltitude();
+            roll = currMav->getRoll();
+            pitch = currMav->getPitch();
+            yaw = currMav->getYaw();
 
             javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
                        .arg(uasId)
diff --git a/src/ui/map3D/QGCGoogleEarthView.h b/src/ui/map3D/QGCGoogleEarthView.h
index 21fff8215..80131dc7e 100644
--- a/src/ui/map3D/QGCGoogleEarthView.h
+++ b/src/ui/map3D/QGCGoogleEarthView.h
@@ -17,30 +17,30 @@
 class QGCWebAxWidget : public QAxWidget
 {
 public:
-	//Q_OBJECT
+    //Q_OBJECT
     QGCWebAxWidget(QWidget* parent = 0, Qt::WindowFlags f = 0)
         : QAxWidget(parent, f)/*,
 		_document(NULL)*/
     {
-		// Set web browser control
-		setControl("{8856F961-340A-11D0-A96B-00C04FD705A2}");
-		// WARNING: Makes it impossible to actually debug javascript. But useful in production mode
-		setProperty("ScriptErrorsSuppressed", true);
-		// see: http://www.codeproject.com/KB/cpp/ExtendedWebBrowser.aspx?fid=285594&df=90&mpp=25&noise=3&sort=Position&view=Quick&fr=151#GoalScriptError
+        // Set web browser control
+        setControl("{8856F961-340A-11D0-A96B-00C04FD705A2}");
+        // WARNING: Makes it impossible to actually debug javascript. But useful in production mode
+        setProperty("ScriptErrorsSuppressed", true);
+        // see: http://www.codeproject.com/KB/cpp/ExtendedWebBrowser.aspx?fid=285594&df=90&mpp=25&noise=3&sort=Position&view=Quick&fr=151#GoalScriptError
+
+        //this->dynamicCall("setProperty(const QString&,
+        //QObject::connect(this, SIGNAL(DocumentComplete(IDispatch*, QVariant&)), this, SLOT(setDocument(IDispatch*, QVariant&)));
 
-			//this->dynamicCall("setProperty(const QString&, 
-		//QObject::connect(this, SIGNAL(DocumentComplete(IDispatch*, QVariant&)), this, SLOT(setDocument(IDispatch*, QVariant&)));
 
-		
     }
-	/*
+    /*
 	QAxObject* document()
 	{
 		return _document;
 	}*/
 
 protected:
-		/*
+    /*
 	void setDocument(IDispatch* dispatch, QVariant& variant)
 	{
 		_document = this->querySubObject("Document()");
@@ -81,7 +81,7 @@ public slots:
     /** @brief Set the currently selected UAS */
     void setActiveUAS(UASInterface* uas);
     /** @brief Update the global position */
-    void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
+    void updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec);
     /** @brief Show the vehicle trail */
     void showTrail(bool state);
     /** @brief Show the waypoints */
@@ -92,14 +92,19 @@ public slots:
     void goHome();
     /** @brief Set the home location */
     void setHome(double lat, double lon, double alt);
+    /** @brief Set camera view range to aircraft in meters */
+    void setViewRange(float range);
+    /** @brief Set camera view range to aircraft in centimeters */
+    void setViewRangeScaledInt(int range);
+
     /** @brief Initialize Google Earth */
     void initializeGoogleEarth();
-	/** @brief Print a Windows exception */
-	void printWinException(int no, QString str1, QString str2, QString str3);
+    /** @brief Print a Windows exception */
+    void printWinException(int no, QString str1, QString str2, QString str3);
 
 public:
-	/** @brief Execute java script inside the Google Earth window */
-	QVariant javaScript(QString javascript);
+    /** @brief Execute java script inside the Google Earth window */
+    QVariant javaScript(QString javascript);
 
 protected:
     void changeEvent(QEvent *e);
@@ -108,12 +113,13 @@ protected:
     UASInterface* mav;
     bool followCamera;
     bool trailEnabled;
+    bool waypointsEnabled;
     bool webViewInitialized;
-	bool jScriptInitialized;
+    bool jScriptInitialized;
     bool gEarthInitialized;
 #ifdef _MSC_VER
     QGCWebAxWidget* webViewWin;
-	QAxObject* jScriptWin;
+    QAxObject* jScriptWin;
 #endif
 #if (defined Q_OS_MAC)
     QWebView* webViewMac;
diff --git a/src/ui/map3D/QGCGoogleEarthView.ui b/src/ui/map3D/QGCGoogleEarthView.ui
index 0731e9a00..53269ab8f 100644
--- a/src/ui/map3D/QGCGoogleEarthView.ui
+++ b/src/ui/map3D/QGCGoogleEarthView.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>597</width>
+    <width>828</width>
     <height>300</height>
    </rect>
   </property>
@@ -23,7 +23,7 @@
    <property name="margin">
     <number>2</number>
    </property>
-   <item row="0" column="0" colspan="6">
+   <item row="0" column="0" colspan="10">
     <layout class="QVBoxLayout" name="webViewLayout"/>
    </item>
    <item row="1" column="0">
@@ -50,14 +50,14 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
+   <item row="1" column="5">
     <widget class="QPushButton" name="clearWPButton">
      <property name="text">
       <string>Clear WPs</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="5">
+   <item row="1" column="9">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -70,6 +70,49 @@
      </property>
     </spacer>
    </item>
+   <item row="1" column="8">
+    <widget class="QSlider" name="camDistanceSlider">
+     <property name="minimum">
+      <number>30</number>
+     </property>
+     <property name="maximum">
+      <number>10000</number>
+     </property>
+     <property name="value">
+      <number>3000</number>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="7">
+    <widget class="QLabel" name="camDistanceLabel">
+     <property name="text">
+      <string>Cam Distance</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="4">
+    <widget class="QCheckBox" name="waypointsCheckbox">
+     <property name="text">
+      <string>Waypoints</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>
-- 
2.22.0