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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<html>
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<head>
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<meta http-equiv="content-type" content="text/html; charset=utf-8" />
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<!-- <head> -->
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<!-- QGroundControl -->
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<title>QGroundControl Google Earth View</title>
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<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
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<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>
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<script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
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<script type="text/javascript">
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google.load("earth", "1", { 'language': 'en'});
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var ge = null;
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var initialized = false;
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var currAircraft = 220;
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var followEnabled = false;
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var lastLat = 0;
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var lastLon = 0;
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var lastAlt = 0;
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var currLat = 47.3769;
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var currLon = 8.549444;
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var currAlt = 470;
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var currFollowHeading = 0.0;
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var homeLat = 0;
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var homeLon = 0;
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var homeAlt = 0;
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var homeViewRange = 500;
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var homeLocation = null;
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var homeGroundLevel = 0;
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var currViewRange = 50.0; ///<< The current viewing range from this position (in meters)
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var currTilt = 40.0; ///<< The tilt angle (in degrees)
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var currFollowTilt = 40.0;
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var currView = null;
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var M_PI = 3.14159265;
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var planeOrient;
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var planeLoc;
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var aircraft = [];
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var aircraftLocations = [];
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var aircraftLastLocations = [];
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var attitudes = [];
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var locations = [];
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var trails = [];
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var trailPlacemarks = [];
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var trailsVisible = [];
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var trailColors = [];
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//var trailPlacemarks[id];
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var lineStyle;
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// Aircraft class
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var planeColor = '6600ffff';
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function isInitialized()
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{
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return initialized;
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}
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function init()
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{
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google.earth.createInstance("map3d", initCallback, failureCallback);
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}
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function setCurrAircraft(id)
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{
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currAircraft = id;
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}
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function setGCSHome(lat, lon, alt)
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{
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homeLat = lat;
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homeLon = lon;
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homeAlt = alt;
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var placemark = ge.createPlacemark('');
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var icon = ge.createIcon('');
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icon.setHref('http://google-maps-icons.googlecode.com/files/blackH.png');
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var style = ge.createStyle('');
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style.getIconStyle().setIcon(icon);
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//style.getIconStyle().setScale(0.5);
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placemark.setStyleSelector(style);
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// Set the placemark's location.
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homeLocation = ge.createPoint('');
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homeLocation.setLatitude(lat);
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homeLocation.setLongitude(lon);
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homeLocation.setAltitude(alt);
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placemark.setGeometry(homeLocation);
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// Add the placemark to Earth.
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ge.getFeatures().appendChild(placemark);
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homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
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if (homeGroundLevel == 0)
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{
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homeGroundLevel = alt;
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}
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}
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function createAircraft(id, type, color)
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{
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planePlacemark = ge.createPlacemark('');
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planePlacemark.setName('aircraft');
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planeModel = ge.createModel('');
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ge.getFeatures().appendChild(planePlacemark);
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planeLoc = ge.createLocation('');
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planeModel.setLocation(planeLoc);
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planeLink = ge.createLink('');
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planeOrient = ge.createOrientation('');
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planeModel.setOrientation(planeOrient);
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planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae');
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planeModel.setLink(planeLink);
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planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
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planeLoc.setLatitude(currLat);
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planeLoc.setLongitude(currLon);
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planeLoc.setAltitude(currAlt);
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planePlacemark.setGeometry(planeModel);
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// Write into global structure
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aircraft[id] = planePlacemark;
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attitudes[id] = planeOrient;
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aircraftLocations[id] = planeLoc;
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aircraftLastLocations[id] = ge.createLocation('');
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//planeColor = color;
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createTrail(id, color);
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console.log(color);
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}
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function createTrail(id, color)
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{
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trailPlacemarks[id] = ge.createPlacemark('');
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// Create the placemark
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// Create the LineString; set it to extend down to the ground
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// and set the altitude mode
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trails[id] = ge.createLineString('');
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trailPlacemarks[id].setGeometry(trails[id]);
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trails[id].setExtrude(false);
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trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
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// Add LineString points
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//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
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// Create a style and set width and color of line
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trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
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lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
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lineStyle.setWidth(5);
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trailColors[id] = color;
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lineStyle.getColor().set('00000000'); // aabbggrr format
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trailsVisible[id] = false;
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// Add the feature to Earth
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//ge.getFeatures().appendChild(trailPlacemarks[id]);
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}
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function hideTrail(id)
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{
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trailsVisible[id] = false;
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ge.getFeatures().removeChild(trailPlacemarks[id]);
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}
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function showTrail(id)
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{
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ge.getFeatures().appendChild(trailPlacemarks[id]);
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trailsVisible[id] = true;
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}
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function setViewRange(dist)
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{
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currViewRange = dist;
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}
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function addTrailPosition(id, lat, lon, alt)
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{
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trails[id].setExtrude(false);
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trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
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// Add LineString points
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trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
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// Create a style and set width and color of line
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trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
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lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
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lineStyle.setWidth(5);
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lineStyle.getColor().set(trailColors[id]); // aabbggrr format
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//lineStyle.getColor().set(color); // aabbggrr format
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// Add the feature to Earth
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if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
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}
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function initCallback(object)
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{
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ge = object;
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ge.getWindow().setVisibility(true);
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ge.getOptions().setStatusBarVisibility(true);
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ge.getOptions().setScaleLegendVisibility(true);
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ge.getOptions().setFlyToSpeed(5.0);
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//ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
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ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
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ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
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ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
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ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
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ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
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initialized = true;
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}
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function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
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{
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if (id == currAircraft)
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{
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if (lastLat == 0)
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{
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lastLat = currLat;
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lastLon = lastLon;
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}
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currLat = lat;
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currLon = lon;
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currAlt = alt;
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//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
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// FIXME Currently invalid conversion from right-handed z-down to z-up frame
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planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
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planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
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planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
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}
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planeLoc.setLatitude(lat);
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planeLoc.setLongitude(lon);
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planeLoc.setAltitude(alt);
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}
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function enableDaylight(enabled)
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{
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if(enabled)
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{
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ge.getSun().setVisibility(true);
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}
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else
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{
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ge.getSun().setVisibility(false);
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}
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}
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function goHome()
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{
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var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
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currView.setLatitude(homeLat);
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currView.setLongitude(homeLon);
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currView.setAltitude(homeAlt);
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currView.setRange(homeViewRange);
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currView.setTilt(currTilt);
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ge.getView().setAbstractView(currView);
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}
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function setCurrentAircraft(id)
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{
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currAircraft = id;
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}
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function updateFollowAircraft()
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{
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currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
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// Interpolate between t-1 and t and set new states
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lastLat = lastLat*0.7+currLat*0.3;
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lastLon = lastLon*0.7+currLon*0.3;
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lastAlt = lastAlt*0.7+currAlt*0.3;
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currView.setLatitude(lastLat);
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currView.setLongitude(lastLon);
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currView.setAltitude(lastAlt);
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currView.setRange(currViewRange);
|
|
|
|
|
|
currView.setTilt(currFollowTilt);
|
|
|
|
|
|
currView.setHeading(currFollowHeading-90.0);
|
|
|
|
|
|
|
|
|
|
|
|
ge.getView().setAbstractView(currView);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function failureCallback(object)
|
|
|
|
|
|
{
|
|
|
|
|
|
}
|
|
|
|
|
|
</script>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<style type="text/css">
|
|
|
|
|
|
html, body {
|
|
|
|
|
|
margin: 0;
|
|
|
|
|
|
width: 100%;
|
|
|
|
|
|
height: 100%;
|
|
|
|
|
|
}
|
|
|
|
|
|
</style>
|
|
|
|
|
|
</head>
|
|
|
|
|
|
<body onload='init()' id='body'>
|
|
|
|
|
|
<center>
|
|
|
|
|
|
<div id='map3d' style='margin: 0; spacing: 0; height: 100%; width: 100%'></div>
|
|
|
|
|
|
</center>
|
|
|
|
|
|
</body>
|
|
|
|
|
|
</html>
|
