diff --git a/images/earth-singlesystem.html b/images/earth-singlesystem.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+
+<html>
+  <head>
+  <meta http-equiv="content-type" content="text/html; charset=utf-8" />
+  <!-- <head> -->
+<!-- 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="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 currLat = 47.3769;
+var currLon = 8.549444;
+var currAlt = 470;
+
+var currentCameraLatitude = 0;
+var currentCameraLongitude = 0;
+var currentCameraAltitude = 0;
+
+var currFollowHeading = 0.0;
+
+var homeLat = 0;
+var homeLon = 0;
+var homeAlt = 0;
+var homeViewRange = 800;
+var homeLocation = null;
+var homeGroundLevel = 0;
+
+var currViewRange = 50.0;	///<< The current viewing range from this position (in meters)
+var currTilt = 40.0;		///<< The tilt angle (in degrees)
+var currFollowTilt = 40.0;
+var currView = null;
+var distanceMode = 0;
+
+var viewMode = 0;
+var lastTilt = currTilt;
+var lastRoll = 0;
+var lastHeading = 0;
+
+var M_PI = 3.14159265;
+
+
+
+var planeOrient;
+var planeLoc;
+
+var aircraft = [];
+var aircraftLocations = [];
+var aircraftLastLocations = [];
+var attitudes = [];
+var locations = [];
+var trails = [];
+var trailPlacemarks = [];
+var trailsVisible = [];
+var trailColors = [];
+var waypoints = [];
+
+var waypointLines = [];
+var waypointLinePlacemarks = [];
+var waypointLineColors = [];
+//var waypointLines = [];
+//var trailPlacemarks[id];
+var lineStyle;
+
+// Aircraft class
+var planeColor = '6600ffff';
+
+// Enable / disable dragging
+var draggingAllowed = true;
+
+// Waypoint interaction flags
+var dragInfo = null;
+
+var dragWaypointIndex = "";
+var dragWaypointLatitude = 0;
+var dragWaypointLongitude = 0;
+var dragWaypointAltitude = 0;
+var dragWaypointPending = false;
+
+// Waypoint creation flags
+var newWaypointLatitude = 0;
+var newWaypointLongitude = 0;
+var newWaypointAltitude = 0;
+var newWaypointPending = false;
+
+var clickMode = 0;
+
+var homePlacemark = null;
+
+
+// Data / heightmap
+var heightMapPlacemark = null;
+var heightMapModel = null;
+
+
+function getGlobal(variable)
+{
+	return variable;
+}
+
+function getDraggingAllowed()
+{
+	return draggingAllowed;
+}
+
+function setDistanceMode(mode)
+{
+	distanceMode = mode;
+}
+
+function setDraggingAllowed(allowed)
+{
+	draggingAllowed = allowed;
+}
+
+function sampleCurrentPosition()
+{
+    var thisView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+	currentCameraLatitude = thisView.getLatitude();
+	currentCameraLongitude = thisView.getLongitude();
+	currentCameraGroundAltitude = ge.getGlobe().getGroundAltitude(currentCameraLatitude, currentCameraLongitude);
+}
+
+function enableSetHomeMode()
+{
+	clickMode = 1;
+}
+
+function setLookAtLatLon(lat, lon)
+{
+	// Keep the current altitude above ground, just move the position
+	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
+	currView.setLatitude(lat);
+	currView.setLongitude(lon);
+	ge.getView().setAbstractView(currView);
+}
+
+function setNewWaypointPending(pending)
+{
+	newWaypointPending = pending;
+	document.getElementById('JScript_newWaypointPending').setAttribute('value',pending);
+}
+
+function setDragWaypointPending(pending)
+{
+	dragWaypointPending = pending;
+	document.getElementById('JScript_dragWaypointPending').setAttribute('value',pending);
+}
+
+function isInitialized()
+{
+	return initialized;
+}
+
+
+function init()
+{
+	google.earth.createInstance("map3d", initCallback, failureCallback);
+}
+
+function setFollowEnabled(enable)
+{
+	followEnabled = enable;
+}
+
+function enableEventListener()
+{
+// listen for mousedown on the window (look specifically for point placemarks)
+google.earth.addEventListener(ge.getWindow(), 'mousedown', function(event)
+{
+if (clickMode == 1)
+    {
+    	// Set home mode
+    	dragWaypointIndex = 'HOME';
+    	document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
+		dragWaypointLatitude = event.getLatitude();
+		dragWaypointLongitude = event.getLongitude();
+		dragWaypointAltitude = ge.getGlobe().getGroundAltitude(dragWaypointLatitude, dragWaypointLongitude);
+		dragWaypointPending = true;
+		document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
+	   document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
+	   document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
+	   document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
+	   setGCSHome(dragWaypointLatitude, dragWaypointLongitude, dragWaypointAltitude);
+}
+    
+  if (event.getTarget().getType() == 'KmlPlacemark' &&
+      event.getTarget().getGeometry().getType() == 'KmlPoint') {
+    var placemark = event.getTarget();
+    event.preventDefault();
+      if (draggingAllowed)
+  {
+  	if (clickMode == 0)
+  	{
+    dragInfo = {
+      placemark: event.getTarget(),
+      dragged: false
+    };
+    }
+  }
+  }
+});
+
+// listen for mousemove on the globe
+google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
+{
+  if (draggingAllowed && (clickMode == 0))
+  {
+  	if (dragInfo)
+  	{
+    	event.preventDefault();
+    	var point = dragInfo.placemark.getGeometry();
+    	point.setLatitude(event.getLatitude());
+    	point.setLongitude(event.getLongitude());
+    	dragInfo.dragged = true;
+    	dragWaypointIndex = dragInfo.placemark.getDescription();
+		document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
+		dragWaypointLatitude = event.getLatitude();
+		dragWaypointLongitude = event.getLongitude();
+		dragWaypointAltitude = point.getAltitude();
+		dragWaypointPending = true;
+		document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
+	    document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
+	    document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
+	    document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
+  	}
+  }
+});
+
+// listen for mouseup on the window
+google.earth.addEventListener(ge.getWindow(), 'mouseup', function(event)
+{
+  if (draggingAllowed && (clickMode == 0))
+  {
+  if (dragInfo) {
+    if (dragInfo.dragged)
+    {
+      	// if the placemark was dragged, prevent balloons from popping up
+      	event.preventDefault();
+      	// Get drag end location
+      	dragWaypointIndex = dragInfo.placemark.getDescription();
+		document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
+      	var point = dragInfo.placemark.getGeometry();
+      	dragWaypointLatitude = event.getLatitude();
+		dragWaypointLongitude = event.getLongitude();
+		dragWaypointAltitude = point.getAltitude();
+    	dragWaypointPending = true;
+		document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
+	   document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
+	   document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
+	   document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
+    }
+    
+    dragInfo = null;
+  }
+  }
+      clickMode = 0;
+});
+
+// Listen for wp creation request on the globe
+
+google.earth.addEventListener(ge.getGlobe(), 'dblclick', function(event){
+	if (draggingAllowed)
+	{
+       event.preventDefault();
+       newWaypointLatitude = event.getLatitude();
+       newWaypointLongitude = event.getLongitude();
+       newWaypointAltitude = ge.getGlobe().getGroundAltitude(newWaypointLatitude, newWaypointLongitude);
+       newWaypointPending = true;
+	   document.getElementById('JScript_newWaypointLatitude').setAttribute('value',newWaypointLatitude);
+	   document.getElementById('JScript_newWaypointLongitude').setAttribute('value',newWaypointLongitude);
+	   document.getElementById('JScript_newWaypointAltitude').setAttribute('value',newWaypointAltitude);
+	   document.getElementById('JScript_newWaypointPending').setAttribute('value',true);
+    }
+}); 
+}
+
+
+
+function setCurrAircraft(id)
+{
+	currAircraft = id;
+}
+
+function setGCSHome(lat, lon, alt)
+{
+	// Only update if position actually changed
+	if (lat != homeLat || lon != homeLon || alt != homeAlt)
+	{
+	homeLat = lat;
+	homeLon = lon;
+	homeAlt = alt;
+	
+	
+	if (homePlacemark == null)
+	{
+		var placemark = ge.createPlacemark(''); 
+	    var icon = ge.createIcon(''); 
+	    icon.setHref('http://google-maps-icons.googlecode.com/files/blackH.png'); 
+	    var style = ge.createStyle(''); 
+	    style.getIconStyle().setIcon(icon); 
+	    //style.getIconStyle().setScale(0.5); 
+	    placemark.setStyleSelector(style);
+	    placemark.setDescription('HOME');
+
+	    // Set the placemark's location.   
+	    homeLocation = ge.createPoint(''); 
+	    homeLocation.setLatitude(lat); 
+	    homeLocation.setLongitude(lon);
+	    homeLocation.setAltitude(alt); 
+	    placemark.setGeometry(homeLocation);  
+
+	    // Add the placemark to Earth. 
+	    ge.getFeatures().appendChild(placemark);
+	    
+	    homePlacemark = placemark;
+	    }
+	    else
+	    {
+	    	var location = ge.createPoint('');
+	    	if (location.getLatitude() != lat || location.getLongitude() != lon || location.getAltitude() != alt)
+	    	{
+	    		location.setLatitude(lat); 
+	    		location.setLongitude(lon);
+	    		location.setAltitude(alt); 
+	    		homePlacemark.setGeometry(location);
+	    		homePlacemark.setDescription('HOME');
+	    	}
+	    }
+
+	    homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
+	    if (homeGroundLevel == 0)
+	    {
+		    homeGroundLevel = alt;
+	    }
+	}
+}
+
+function updateWaypointListLength(id, len)
+{
+	// Delete any non-needed waypoints
+	if (waypoints.length > len)
+	{
+		var initialLength = waypoints.length;
+		for (var i=len; i<initialLength; i++)
+		{
+			var placemark = waypoints.pop();
+		    ge.getFeatures().removeChild(placemark);
+		    waypointLines[id].getCoordinates().pop();
+		}
+	}
+}
+
+function updateWaypoint(id, index, lat, lon, alt, action)
+{
+	// Check if waypoint exists
+	if (waypoints.length > index)
+	{
+		// Waypoint exists
+		// Set the placemark's location.   
+	    var location = ge.createPoint(''); 
+	    location.setLatitude(lat); 
+	    location.setLongitude(lon);
+	    location.setAltitude(alt); 
+	    waypoints[index].setGeometry(location);
+	    waypoints[index].setDescription(index+"");
+	    
+	    // Set the WP line location
+	    waypointLines[id].getCoordinates().setLatLngAlt(index, lat, lon, alt);
+	}
+	else
+	{
+		// Waypoint does not exist yet
+		var placemark = ge.createPlacemark(''); 
+	    var icon = ge.createIcon('');
+	    var numberstring = index;
+	    if (index < 10) numberstring = '0' + numberstring
+	    icon.setHref('http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png'); 
+	    var style = ge.createStyle('');
+	    //console.log('WP ICON created:' + 'http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png');
+	    style.getIconStyle().setIcon(icon); 
+	    //style.getIconStyle().setScale(0.5); 
+	    placemark.setStyleSelector(style);
+	    placemark.setDescription(index+"");
+
+	    // Set the placemark's location.   
+	    var location = ge.createPoint(''); 
+	    location.setLatitude(lat); 
+	    location.setLongitude(lon);
+	    location.setAltitude(alt+lineAltitudeOffset); 
+	    placemark.setGeometry(location);  
+
+	    // Add the placemark to Earth. 
+	    ge.getFeatures().appendChild(placemark); 
+		waypoints[index] = placemark;
+        
+        // Add LineString points
+	    waypointLines[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
+	}
+}
+
+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);
+	
+	var factor = 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;
+	//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); 
+
+	planeLoc.setLatitude(currLat);
+	planeLoc.setLongitude(currLon);
+	planeLoc.setAltitude(currAlt);
+
+	planePlacemark.setGeometry(planeModel);
+          
+	// Write into global structure
+	aircraft[id] = planePlacemark;
+	attitudes[id] = planeOrient;
+	aircraftLocations[id] = planeLoc;
+	aircraftLastLocations[id] = ge.createLocation('');
+          
+	createTrail(id, color);
+	createWaypointLine(id, color);
+}
+
+function createTrail(id, color)
+{
+	trailPlacemarks[id] = ge.createPlacemark('');
+	// Create the placemark
+	// Create the LineString; set it to extend down to the ground
+	// and set the altitude mode
+	trails[id] = ge.createLineString('');
+	trailPlacemarks[id].setGeometry(trails[id]);
+	trails[id].setExtrude(false);
+	trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+
+	// Create a style and set width and color of line
+	trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+	lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
+	lineStyle.setWidth(5);
+	trailColors[id] = color;
+	lineStyle.getColor().set('00000000');  // aabbggrr format
+
+	trailsVisible[id] = false;
+}
+
+function createWaypointLine(id, color)
+{
+	// Create the placemark
+	waypointLinePlacemarks[id] = ge.createPlacemark('');
+	// Create the LineString; set it to extend down to the ground
+	// and set the altitude mode
+	waypointLines[id] = ge.createLineString('');
+	waypointLinePlacemarks[id].setGeometry(waypointLines[id]);
+	waypointLines[id].setExtrude(false);
+	waypointLines[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
+	waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
+	lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
+	lineStyle.setWidth(15);
+	waypointLineColors[id] = color;
+	lineStyle.getColor().set(color);  // aabbggrr format
+
+        
+
+        // Create a style and set width and color of line
+        //waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
+        //lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
+        //lineStyle.setWidth(15);
+        //lineStyle.getColor().set(waypointLineColors[id]);  // aabbggrr format
+        //lineStyle.getColor().set(color);  // aabbggrr format
+
+	// Add the feature to Earth
+	ge.getFeatures().appendChild(waypointLinePlacemarks[id]);
+}
+
+function clearTrail(id)
+{
+	ge.getFeatures().removeChild(trailPlacemarks[id]);
+	trailPlacemarks[id] = null;
+	var isVisible = trailsVisible[id];
+	createTrail(id, trailColors[id]);
+	if (isVisible)
+	{
+		showTrail(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)
+{
+	//trails[id].setExtrude(false);
+    //trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+
+    // Add LineString points
+	trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
+
+    // Create a style and set width and color of line
+    trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+    lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
+    lineStyle.setWidth(5);
+    lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
+}
+
+function initCallback(object)
+{
+    ge = object;
+    ge.getWindow().setVisibility(true);
+    ge.getOptions().setStatusBarVisibility(true); 
+    ge.getOptions().setScaleLegendVisibility(true);
+    //ge.getOptions().setFlyToSpeed(5.0); 
+    ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT); 
+    ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
+        
+    ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true); 
+    ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true); 
+    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.setName('aircraft');
+	heightMapModel = ge.createModel('');
+	ge.getFeatures().appendChild(heightMapPlacemark);
+	planeLoc = ge.createLocation('');
+	heightMapModel.setLocation(planeLoc);
+	planeLink = ge.createLink('');
+	planeOrient = ge.createOrientation(''); 
+	heightMapModel.setOrientation(planeOrient); 
+
+	planeLink.setHref('http://www.inf.ethz.ch/personal/lomeier/data/untex-environment.dae'); 
+	heightMapModel.setLink(planeLink);
+	var scale = heightMapModel.getScale();
+	var factor = 1.0;//1.0/1000.0;
+	scale.set(scale.getX()*factor, scale.getY()*factor, scale.getZ()*factor)
+	heightMapModel.setScale(scale);
+	heightMapModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); 
+
+	planeLoc.setLatitude(currLat);
+	planeLoc.setLongitude(currLon);
+	planeLoc.setAltitude(currAlt);
+
+	heightMapPlacemark.setGeometry(heightMapModel);
+	
+    initialized = true;
+}
+
+function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
+{
+	if (id == currAircraft)
+	{
+		if (lastLat == 0)
+		{
+			lastLat = currLat;
+			lastLon = currLon;
+		}
+		
+		currLat = lat;
+		currLon = lon;
+		var trueGroundAlt = ge.getGlobe().getGroundAltitude(lat, lon);
+		if (trueGroundAlt < alt)
+		{
+		  currAlt = alt;
+	    }
+	    else
+	    {
+	      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;
+	
+		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);
+	
+		currFollowHeading = currFollowHeading*0.95+0.05*(((yaw/M_PI))*180.0);
+    
+    	planeLoc.setLatitude(lastLat);
+    	planeLoc.setLongitude(lastLon);
+    	planeLoc.setAltitude(lastAlt);
+    	planeModel.setLocation(planeLoc);
+    
+    	if (followEnabled) updateFollowAircraft();
+    }
+}
+
+function enableDaylight(enabled)
+{
+	if(enabled)
+	{
+		ge.getSun().setVisibility(true);
+	}
+	else
+	{
+		ge.getSun().setVisibility(false);
+	}
+}
+
+function enableAtmosphere(enabled)
+{
+	ge.getOptions().setAtmosphereVisibility(enabled);
+}
+		
+function goHome()
+{
+	var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+	currView.setLatitude(homeLat);
+	currView.setLongitude(homeLon);
+	currView.setAltitude(homeAlt);
+	currView.setRange(homeViewRange);
+	currView.setTilt(currTilt);
+	ge.getView().setAbstractView(currView);
+}
+
+function setCurrentAircraft(id)
+{
+	currAircraft = id;
+}
+
+/** @brief Set the current view mode
+ *
+ * @param mode 0: side map view, 1: top/north map view, 2: fixed chase cam, 3: free chase cam
+ */
+function setViewMode(mode)
+{
+	var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
+	
+	if (mode == 0)
+	{
+		currView.setTilt(lastTilt);
+		currView.setHeading(lastHeading);
+	}
+	
+	if (mode == 1 && viewMode != mode)
+	{
+		lastTilt = currView.getTilt();
+		lastHeading = currView.getHeading();
+		currView.setTilt(0);
+		currView.setHeading(0);
+	}
+	
+	viewMode = mode;
+	
+	ge.getView().setAbstractView(currView);
+}
+
+function updateFollowAircraft()
+{
+	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+	currView.setLatitude(lastLat);
+	currView.setLongitude(lastLon);
+	
+	if (distanceMode == 1)
+	{
+		var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat, lastLon);
+		currView.setAltitude(groundAltitude);
+	}
+	
+	if (distanceMode == 0) currView.setAltitude(lastAlt);
+
+	currView.setRange(currViewRange);
+	
+	if (viewMode != 3) // VIEW_MODE_CHASE_FREE
+	{
+		currView.setTilt(currFollowTilt);
+		currView.setHeading(currFollowHeading);
+	}
+	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>
+	<input type="hidden" id="JScript_initialized" value="false" />
+    <input type="hidden" id="JScript_dragWaypointIndex" value="0" />
+	<input type="hidden" id="JScript_dragWaypointLatitude" value="0" />
+	<input type="hidden" id="JScript_dragWaypointLongitude" value="0" />
+	<input type="hidden" id="JScript_dragWaypointAltitude" value="0" />
+	<input type="hidden" id="JScript_dragWaypointPending" value="false" />
+	<input type="hidden" id="JScript_newWaypointLatitude" value="0" />
+	<input type="hidden" id="JScript_newWaypointLongitude" value="0" />
+	<input type="hidden" id="JScript_newWaypointAltitude" value="0" />
+	<input type="hidden" id="JScript_newWaypointPending" value="false" />
+	<input type="hidden" id="JScript_currentCameraLatitude" value="0" />
+	<input type="hidden" id="JScript_currentCameraLongitude" value="0" />
+	<input type="hidden" id="JScript_currentCameraGroundAltitude" value="0" />
+  </body>
+</html>
diff --git a/images/earth.html b/images/earth.html
index 5091ce3..8fa28ef 100644
--- a/images/earth.html
+++ b/images/earth.html
@@ -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);
 	
