Merge branch 'dev' of [email protected]:pixhawk/qgroundcontrol into dev

jhonconal · Dec 9, 2010 · 91ce554 · 91ce554
2 parents f66e08c + 2cbb6cb
commit 91ce554
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diff --git a/.gitignore b/.gitignore
@@ -26,3 +26,4 @@ deploy/mac
 deploy/linux
 controller_log*
 user_config.pri
+*.app
diff --git a/data/kinect.cal b/data/kinect.cal
@@ -0,0 +1,35 @@
+[rgb]
+principal_point\x=313.67245
+principal_point\y=264.06175
+focal_length\x=527.44654
+focal_length\y=527.40652
+distortion\k1=0.20780
+distortion\k2=-0.34320
+distortion\k3=0.00139
+distortion\k4=0.00061
+distortion\k5=0.00000
+
+[depth]
+principal_point\x=313.23400
+principal_point\y=246.13447
+focal_length\x=587.62150
+focal_length\y=587.51184
+distortion\k1=0.01063
+distortion\k2=-0.04479
+distortion\k3=-0.00073
+distortion\k4=0.00081
+distortion\k5=0.00000
+
+[transform]
+R11=0.99994
+R12=0.00098102
+R13=0.010900
+R21=-0.00097894
+R22=1.0
+R23=-0.00019534
+R33=-0.010900
+R32=0.00018466
+R33=0.99994
+Tx=-0.02581986
+Ty=-0.0130948
+Tz=-0.0047681
diff --git a/images/earth.html b/images/earth.html
@@ -1,34 +1,101 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"><html>
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"
+
+<html>
  <meta http-equiv="content-type" content="text/html; charset=utf-8" />
  <head>
-<!--
-Copyright 2008 Google Inc.
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
- http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
+<!-- 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="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
  <script type="text/javascript">
-google.load("earth", "1");
+google.load("earth", "1", { 'language': 'en'});
 
 var ge = null;
+var initialized = false;
+var aircraft = new Array();
+var currAircraft = 220;
+var followAircraft = false;
+var currLat = 47.3769;
+var currLon = 8.549444;
+var currAlt = 470;
+
+var homeLat = 0;
+var homeLon = 0;
+var homeAlt = 0;
+var homeViewRange = 500;
+var homeLocation = null;
+var homeGroundLevel = 0;
+
+var currViewRange = 3.0; ///<< 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 planeOrient;
+var planeLoc;
+
+
+// Aircraft class
+
+
+function isInitialized()
+{
+ return initialized;
+}
+
 
 function init() {
- google.earth.createInstance("map3d", initCallback, failureCallback);
+ google.earth.createInstance("map3d", initCallback, failureCallback);
+}
+
+
+
+
+
+function setGCSHome(lat, lon, alt)
+{
+ homeLat = lat;
+ homeLon = lon;
+ homeAlt = alt;
+
+
+
+ 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); 
+
+ // 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); 
+
+ homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
+ if (homeGroundLevel == 0)
+ {
+ homeGroundLevel = alt;
+ }
+
+
+
+
+
+
+ goHome();
 }
 
-function initCallback(object) {
+function initCallback(object)
+{
  ge = object;
  ge.getWindow().setVisibility(true);
  ge.getOptions().setStatusBarVisibility(true); 
@@ -40,11 +107,104 @@
  ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true); 
  ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true); 
  ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
+
+ // Now after the Google Earth initialization, initialize the GCS view
+ setGCSHome(currLat, currLon, currAlt);
+
+
+ // Create the first aircraft model
+ // Load 3D model
+ var 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); 
+
+ planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae');
+ planeModel.setLink(planeLink);
+ planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); 
+
+ planeLoc.setLatitude(currLat);
+ planeLoc.setLongitude(currLon);
+ planeLoc.setAltitude(currAlt);
+
+ planePlacemark.setGeometry(planeModel);
+
+ setAircraftPositionAttitude(220, 47.3772, currLon, currAlt+50, 20, 15, 50);
+ enableFollowing(true);
+ updateFollowAircraft();
+ initialized = true;
+
+
+}
+
+function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
+{
+ if (id == currAircraft)
+ {
+ currLat = lat;
+ currLon = lon;
+ currAlt = alt;
+ }
+
+ planeOrient.setRoll(roll); 
+ planeOrient.setTilt(pitch); 
+ planeOrient.setHeading(yaw);
+
+
+
+ planeLoc.setLatitude(lat);
+ planeLoc.setLongitude(lon);
+ planeLoc.setAltitude(alt);
+
 }
 
-function failureCallback(object) {
+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);
 }
- </script>
+
+function setCurrentAircraft(id)
+{
+ currAircraft = id;
+}
+
+function enableFollowing(follow)
+{
+ followEnabled = follow;
+}
+
+
+function updateFollowAircraft()
+{
+ if (followEnabled)
+ {
+ currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+ currView.setLatitude(currLat);
+ currView.setLongitude(currLon);
+ currView.setAltitude(currAlt);
+ currView.setRange(currViewRange);
+ currView.setTilt(currFollowTilt);
+ ge.getView().setAbstractView(currView);
+ }
+}
+
+function failureCallback(object)
+{
+}
+</script>
+
+
  <style type="text/css">
  html, body {
  margin: 0;