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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 waypoints = []; |
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//var waypointLines = []; |
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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 setFollowEnabled(enable) |
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{ |
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followEnabled = enable; |
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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 updateWaypointListLength(id, len) |
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{ |
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// Delete any non-needed waypoints |
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if (waypoints.length > len) |
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{ |
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for (var i=len; i<waypoints.length; i++) |
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{ |
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var placemark = waypoints.pop(); |
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ge.getFeatures().removeChild(placemark); |
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} |
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} |
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} |
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function updateWaypoint(id, index, lat, lon, alt, action) |
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{ |
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// Check if waypoint exists |
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if (waypoints.length > index) |
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{ |
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// Waypoint exists |
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// Set the placemark's location. |
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var location = ge.createPoint(''); |
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location.setLatitude(lat); |
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location.setLongitude(lon); |
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location.setAltitude(alt); |
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waypoints[index].setGeometry(location); |
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} |
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else |
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{ |
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// Waypoint does not exist yet |
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var placemark = ge.createPlacemark(''); |
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var icon = ge.createIcon(''); |
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var numberstring = index; |
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if (index < 10) numberstring = '0' + numberstring |
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icon.setHref('http://google-maps-icons.googlecode.com/files/red' + numberstring +'.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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var location = ge.createPoint(''); |
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location.setLatitude(lat); |
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location.setLongitude(lon); |
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location.setAltitude(alt); |
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placemark.setGeometry(location); |
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// Add the placemark to Earth. |
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ge.getFeatures().appendChild(placemark); |
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waypoints[index] = placemark; |
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} |
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// Add connecting line |
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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 clearTrail(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 = currLon; |
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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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// Interpolate between t-1 and t and set new states |
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lastLat = lastLat*0.8+currLat*0.2; |
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lastLon = lastLon*0.8+currLon*0.2; |
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lastAlt = lastAlt*0.8+currAlt*0.2; |
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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))*180.0+180.0); |
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planeOrient.setTilt(((pitch/M_PI))*180.0+180.0); |
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planeOrient.setHeading(((yaw/M_PI))*180.0-90.0); |
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currFollowHeading = ((yaw/M_PI))*180.0; |
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planeLoc.setLatitude(lastLat); |
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planeLoc.setLongitude(lastLon); |
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planeLoc.setAltitude(lastAlt); |
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planeModel.setLocation(planeLoc); |
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if (followEnabled) updateFollowAircraft(); |
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} |
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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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currView.setLatitude(lastLat); |
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currView.setLongitude(lastLon); |
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currView.setAltitude(lastAlt); |
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currView.setRange(currViewRange); |
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currView.setTilt(currFollowTilt); |
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currView.setHeading(currFollowHeading); |
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ge.getView().setAbstractView(currView); |
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} |
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function failureCallback(object) |
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{ |
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} |
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</script> |
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<style type="text/css"> |
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html, body { |
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margin: 0; |
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width: 100%; |
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height: 100%; |
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} |
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</style> |
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</head> |
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<body onload='init()' id='body'> |
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<center> |
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<div id='map3d' style='margin: 0; spacing: 0; height: 100%; width: 100%'></div> |
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</center> |
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</body> |
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</html>
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