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'use strict';
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// MultiWii NAV Protocol
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var MWNP = MWNP || {};
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// WayPoint type
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MWNP.WPTYPE = {
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WAYPOINT: 1,
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PH_UNLIM: 2,
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PH_TIME: 3,
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RTH: 4,
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SET_POI: 5,
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JUMP: 6,
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SET_HEAD: 7,
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LAND: 8
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};
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TABS.mission_control = {};
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TABS.mission_control.isYmapLoad = false;
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TABS.mission_control.initialize = function (callback) {
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let cursorInitialized = false;
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let curPosStyle;
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let curPosGeo;
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let rthGeo;
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let breadCrumbLS;
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let breadCrumbFeature;
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let breadCrumbStyle;
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let breadCrumbSource;
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let breadCrumbVector;
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let textStyle;
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let textFeature;
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var textGeom;
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let isOffline = false;
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let rthUpdateInterval = 0;
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if (GUI.active_tab != 'mission_control') {
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GUI.active_tab = 'mission_control';
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googleAnalytics.sendAppView('Mission Control');
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}
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if (CONFIGURATOR.connectionValid) {
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var loadChainer = new MSPChainerClass();
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loadChainer.setChain([
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mspHelper.getMissionInfo
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]);
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loadChainer.setExitPoint(loadHtml);
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loadChainer.execute();
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} else {
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// FC not connected, load page anyway
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loadHtml();
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}
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function updateTotalInfo() {
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if (CONFIGURATOR.connectionValid) {
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$('#availablePoints').text(MISSION_PLANER.countBusyPoints + '/' + MISSION_PLANER.maxWaypoints);
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$('#missionValid').html(MISSION_PLANER.isValidMission ? chrome.i18n.getMessage('armingCheckPass') : chrome.i18n.getMessage('armingCheckFail'));
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}
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}
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function loadHtml() {
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GUI.load("./tabs/mission_control.html", process_html);
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}
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function process_html() {
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// set GUI for offline operations
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if (!CONFIGURATOR.connectionValid) {
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$('#infoAvailablePoints').hide();
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$('#infoMissionValid').hide();
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$('#loadMissionButton').hide();
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$('#saveMissionButton').hide();
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$('#loadEepromMissionButton').hide();
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$('#saveEepromMissionButton').hide();
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isOffline = true;
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}
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if (typeof require !== "undefined") {
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loadSettings();
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// let the dom load finish, avoiding the resizing of the map
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setTimeout(initMap, 200);
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} else {
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$('#missionMap, #missionControls').hide();
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$('#notLoadMap').show();
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}
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localize();
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function get_raw_gps_data() {
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MSP.send_message(MSPCodes.MSP_RAW_GPS, false, false, get_comp_gps_data);
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}
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function get_comp_gps_data() {
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MSP.send_message(MSPCodes.MSP_COMP_GPS, false, false, get_altitude_data);
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}
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function get_altitude_data() {
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MSP.send_message(MSPCodes.MSP_ALTITUDE, false, false, get_attitude_data);
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}
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function get_attitude_data() {
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MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, update_gpsTrack);
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}
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function update_gpsTrack() {
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let lat = GPS_DATA.lat / 10000000;
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let lon = GPS_DATA.lon / 10000000;
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//Update map
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if (GPS_DATA.fix >= 2) {
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if (!cursorInitialized) {
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cursorInitialized = true;
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/////////////////////////////////////
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//create layer for current position
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curPosStyle = new ol.style.Style({
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image: new ol.style.Icon(({
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anchor: [0.5, 0.5],
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opacity: 1,
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scale: 0.6,
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src: '../images/icons/icon_mission_airplane.png'
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}))
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});
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let currentPositionLayer;
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curPosGeo = new ol.geom.Point(ol.proj.fromLonLat([lon, lat]));
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let curPosFeature = new ol.Feature({
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geometry: curPosGeo
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});
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curPosFeature.setStyle(curPosStyle);
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let vectorSource = new ol.source.Vector({
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features: [curPosFeature]
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});
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currentPositionLayer = new ol.layer.Vector({
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source: vectorSource
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});
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///////////////////////////
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//create layer for RTH Marker
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let rthStyle = new ol.style.Style({
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image: new ol.style.Icon(({
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anchor: [0.5, 1.0],
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opacity: 1,
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scale: 0.5,
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src: '../images/icons/cf_icon_RTH.png'
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}))
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});
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rthGeo = new ol.geom.Point(ol.proj.fromLonLat([90, 0]));
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let rthFeature = new ol.Feature({
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geometry: rthGeo
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});
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rthFeature.setStyle(rthStyle);
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let rthVector = new ol.source.Vector({
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features: [rthFeature]
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});
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let rthLayer = new ol.layer.Vector({
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source: rthVector
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});
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//////////////////////////////
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//create layer for bread crumbs
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breadCrumbLS = new ol.geom.LineString([ol.proj.fromLonLat([lon, lat]), ol.proj.fromLonLat([lon, lat])]);
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breadCrumbStyle = new ol.style.Style({
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stroke: new ol.style.Stroke({
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color: '#ffcc33',
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width: 6
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})
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});
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breadCrumbFeature = new ol.Feature({
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geometry: breadCrumbLS
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});
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breadCrumbFeature.setStyle(breadCrumbStyle);
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breadCrumbSource = new ol.source.Vector({
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features: [breadCrumbFeature]
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});
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breadCrumbVector = new ol.layer.Vector({
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source: breadCrumbSource
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});
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/////////////////////////////
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//create layer for heading, alt, groundspeed
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textGeom = new ol.geom.Point([0,0]);
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textStyle = new ol.style.Style({
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text: new ol.style.Text({
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font: 'bold 35px Calibri,sans-serif',
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fill: new ol.style.Fill({ color: '#fff' }),
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offsetX: map.getSize()[0]-260,
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offsetY: 80,
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textAlign: 'left',
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backgroundFill: new ol.style.Fill({ color: '#000' }),
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stroke: new ol.style.Stroke({
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color: '#fff', width: 2
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}),
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text: 'H: XXX\nAlt: XXXm\nSpeed: XXXcm/s'
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})
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});
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textFeature = new ol.Feature({
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geometry: textGeom
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});
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textFeature.setStyle(textStyle);
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var textSource = new ol.source.Vector({
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features: [textFeature]
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});
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var textVector = new ol.layer.Vector({
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source: textSource
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});
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map.addLayer(rthLayer);
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map.addLayer(breadCrumbVector);
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map.addLayer(currentPositionLayer);
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map.addControl(textVector);
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}
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let gpsPos = ol.proj.fromLonLat([lon, lat]);
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curPosGeo.setCoordinates(gpsPos);
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breadCrumbLS.appendCoordinate(gpsPos);
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var coords = breadCrumbLS.getCoordinates();
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if(coords.length > 100)
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{
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coords.shift();
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breadCrumbLS.setCoordinates(coords);
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}
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curPosStyle.getImage().setRotation((SENSOR_DATA.kinematics[2]/360.0) * 6.28318);
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//update data text
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textGeom.setCoordinates(map.getCoordinateFromPixel([0,0]));
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let tmpText = textStyle.getText();
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tmpText.setText(' \n' +
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'H: ' + SENSOR_DATA.kinematics[2] +
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'\nAlt: ' + SENSOR_DATA.altitude +
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'm\nSpeed: ' + GPS_DATA.speed + 'cm/s\n' +
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'Dist: ' + GPS_DATA.distanceToHome + 'm');
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//update RTH every 5th GPS update since it really shouldn't change
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if(rthUpdateInterval >= 5)
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{
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MISSION_PLANER.bufferPoint.number = -1; //needed to get point 0 which id RTH
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MSP.send_message(MSPCodes.MSP_WP, mspHelper.crunch(MSPCodes.MSP_WP), false, function rth_update() {
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var coord = ol.proj.fromLonLat([MISSION_PLANER.bufferPoint.lon, MISSION_PLANER.bufferPoint.lat]);
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rthGeo.setCoordinates(coord);
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});
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rthUpdateInterval = 0;
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}
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rthUpdateInterval++;
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}
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}
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/*
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* enable data pulling if not offline
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* Refreshing data at 5Hz... Could slow this down if we have performance issues
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*/
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if(!isOffline)
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{
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helper.mspBalancedInterval.add('gps_pull', 200, 3, function gps_update() {
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// avoid usage of the GPS commands until a GPS sensor is detected for targets that are compiled without GPS support.
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if (!have_sensor(CONFIG.activeSensors, 'gps')) {
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update_gpsTrack();
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return;
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}
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if (helper.mspQueue.shouldDrop()) {
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return;
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}
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get_raw_gps_data();
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});
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}
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GUI.content_ready(callback);
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}
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var markers = [];
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var lines = [];
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var map;
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var selectedMarker = null;
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var pointForSend = 0;
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var settings = { speed: 0, alt: 5000 };
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function clearEditForm() {
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$('#pointLat').val('');
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$('#pointLon').val('');
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$('#pointAlt').val('');
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$('#pointSpeed').val('');
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$('[name=pointNumber]').val('');
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$('#MPeditPoint').fadeOut(300);
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}
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function loadSettings() {
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chrome.storage.local.get('missionPlanerSettings', function (result) {
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if (result.missionPlanerSettings) {
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settings = result.missionPlanerSettings;
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}
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refreshSettings();
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});
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}
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function saveSettings() {
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chrome.storage.local.set({'missionPlanerSettings': settings});
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}
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function refreshSettings() {
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$('#MPdefaultPointAlt').val(settings.alt);
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$('#MPdefaultPointSpeed').val(settings.speed);
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}
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function repaint() {
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var oldPos;
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for (var i in lines) {
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map.removeLayer(lines[i]);
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}
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lines = [];
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$('#missionDistance').text(0);
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map.getLayers().forEach(function (t) {
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//feature.getGeometry().getType()
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if (t instanceof ol.layer.Vector && typeof t.alt !== 'undefined') {
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var geometry = t.getSource().getFeatures()[0].getGeometry();
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if (typeof oldPos !== 'undefined') {
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paintLine(oldPos, geometry.getCoordinates());
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}
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oldPos = geometry.getCoordinates();
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}
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});
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//reset text position
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if (textGeom) {
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textGeom.setCoordinates(map.getCoordinateFromPixel([0,0]));
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}
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}
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function paintLine(pos1, pos2) {
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var line = new ol.geom.LineString([pos1, pos2]);
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var feature = new ol.Feature({
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geometry: line
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});
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feature.setStyle(new ol.style.Style({
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stroke: new ol.style.Stroke({
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color: '#1497f1',
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width: 3
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})
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}));
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var vectorSource = new ol.source.Vector({
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features: [feature]
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});
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var vectorLayer = new ol.layer.Vector({
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source: vectorSource
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});
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lines.push(vectorLayer);
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var length = ol.Sphere.getLength(line) + parseFloat($('#missionDistance').text());
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$('#missionDistance').text(length.toFixed(3));
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map.addLayer(vectorLayer);
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}
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function getPointIcon(isEdit) {
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return new ol.style.Style({
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image: new ol.style.Icon(({
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anchor: [0.5, 1],
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opacity: 1,
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scale: 0.5,
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src: '../images/icons/cf_icon_position' + (isEdit ? '_edit' : '') + '.png'
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}))
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/*
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text: new ol.style.Text({
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text: '10',
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offsetX: -1,
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offsetY: -30,
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|
|
overflow: true,
|
|
|
|
scale: 2,
|
|
|
|
fill: new ol.style.Fill({ color: 'black' })
|
|
|
|
})
|
|
|
|
*/
|
|
|
|
});
|
|
|
|
}
|
|
|
|
|
|
|
|
function addMarker(_pos, _alt, _action, _speed) {
|
|
|
|
var iconFeature = new ol.Feature({
|
|
|
|
geometry: new ol.geom.Point(_pos),
|
|
|
|
name: 'Null Island',
|
|
|
|
population: 4000,
|
|
|
|
rainfall: 500
|
|
|
|
});
|
|
|
|
|
|
|
|
iconFeature.setStyle(getPointIcon());
|
|
|
|
|
|
|
|
var vectorSource = new ol.source.Vector({
|
|
|
|
features: [iconFeature]
|
|
|
|
});
|
|
|
|
|
|
|
|
var vectorLayer = new ol.layer.Vector({
|
|
|
|
source: vectorSource
|
|
|
|
});
|
|
|
|
|
|
|
|
vectorLayer.alt = _alt;
|
|
|
|
vectorLayer.number = markers.length;
|
|
|
|
vectorLayer.action = _action;
|
|
|
|
vectorLayer.speedValue = _speed;
|
|
|
|
|
|
|
|
markers.push(vectorLayer);
|
|
|
|
|
|
|
|
return vectorLayer;
|
|
|
|
}
|
|
|
|
|
|
|
|
function initMap() {
|
|
|
|
var app = {};
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @constructor
|
|
|
|
* @extends {ol.interaction.Pointer}
|
|
|
|
*/
|
|
|
|
app.Drag = function () {
|
|
|
|
|
|
|
|
ol.interaction.Pointer.call(this, {
|
|
|
|
handleDownEvent: app.Drag.prototype.handleDownEvent,
|
|
|
|
handleDragEvent: app.Drag.prototype.handleDragEvent,
|
|
|
|
handleMoveEvent: app.Drag.prototype.handleMoveEvent,
|
|
|
|
handleUpEvent: app.Drag.prototype.handleUpEvent
|
|
|
|
});
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @type {ol.Pixel}
|
|
|
|
* @private
|
|
|
|
*/
|
|
|
|
this.coordinate_ = null;
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @type {string|undefined}
|
|
|
|
* @private
|
|
|
|
*/
|
|
|
|
this.cursor_ = 'pointer';
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @type {ol.Feature}
|
|
|
|
* @private
|
|
|
|
*/
|
|
|
|
this.feature_ = null;
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @type {string|undefined}
|
|
|
|
* @private
|
|
|
|
*/
|
|
|
|
this.previousCursor_ = undefined;
|
|
|
|
|
|
|
|
};
|
|
|
|
ol.inherits(app.Drag, ol.interaction.Pointer);
|
|
|
|
|
|
|
|
app.ConvertCentimetersToMeters = function (val) {
|
|
|
|
return parseInt(val) / 100;
|
|
|
|
};
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @constructor
|
|
|
|
* @extends {ol.control.Control}
|
|
|
|
* @param {Object=} opt_options Control options.
|
|
|
|
*/
|
|
|
|
app.PlannerSettingsControl = function (opt_options) {
|
|
|
|
var options = opt_options || {};
|
|
|
|
var button = document.createElement('button');
|
|
|
|
|
|
|
|
button.innerHTML = ' ';
|
|
|
|
button.style = 'background: url(\'../images/CF_settings_white.svg\') no-repeat 1px -1px;background-color: rgba(0,60,136,.5);';
|
|
|
|
|
|
|
|
var handleShowSettings = function () {
|
|
|
|
$('#MPeditPoint, #missionPalnerTotalInfo').hide();
|
|
|
|
$('#missionPlanerSettings').fadeIn(300);
|
|
|
|
};
|
|
|
|
|
|
|
|
button.addEventListener('click', handleShowSettings, false);
|
|
|
|
button.addEventListener('touchstart', handleShowSettings, false);
|
|
|
|
|
|
|
|
var element = document.createElement('div');
|
|
|
|
element.className = 'mission-control-settings ol-unselectable ol-control';
|
|
|
|
element.appendChild(button);
|
|
|
|
element.title = 'MP Settings';
|
|
|
|
|
|
|
|
ol.control.Control.call(this, {
|
|
|
|
element: element,
|
|
|
|
target: options.target
|
|
|
|
});
|
|
|
|
|
|
|
|
};
|
|
|
|
ol.inherits(app.PlannerSettingsControl, ol.control.Control);
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @param {ol.MapBrowserEvent} evt Map browser event.
|
|
|
|
* @return {boolean} `true` to start the drag sequence.
|
|
|
|
*/
|
|
|
|
app.Drag.prototype.handleDownEvent = function (evt) {
|
|
|
|
var map = evt.map;
|
|
|
|
|
|
|
|
var feature = map.forEachFeatureAtPixel(evt.pixel,
|
|
|
|
function (feature, layer) {
|
|
|
|
return feature;
|
|
|
|
});
|
|
|
|
|
|
|
|
if (feature) {
|
|
|
|
this.coordinate_ = evt.coordinate;
|
|
|
|
this.feature_ = feature;
|
|
|
|
}
|
|
|
|
|
|
|
|
return !!feature;
|
|
|
|
};
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @param {ol.MapBrowserEvent} evt Map browser event.
|
|
|
|
*/
|
|
|
|
app.Drag.prototype.handleDragEvent = function (evt) {
|
|
|
|
var map = evt.map;
|
|
|
|
|
|
|
|
var feature = map.forEachFeatureAtPixel(evt.pixel,
|
|
|
|
function (feature, layer) {
|
|
|
|
return feature;
|
|
|
|
});
|
|
|
|
|
|
|
|
var deltaX = evt.coordinate[0] - this.coordinate_[0];
|
|
|
|
var deltaY = evt.coordinate[1] - this.coordinate_[1];
|
|
|
|
|
|
|
|
var geometry = /** @type {ol.geom.SimpleGeometry} */
|
|
|
|
(this.feature_.getGeometry());
|
|
|
|
geometry.translate(deltaX, deltaY);
|
|
|
|
|
|
|
|
this.coordinate_[0] = evt.coordinate[0];
|
|
|
|
this.coordinate_[1] = evt.coordinate[1];
|
|
|
|
repaint();
|
|
|
|
};
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @param {ol.MapBrowserEvent} evt Event.
|
|
|
|
*/
|
|
|
|
app.Drag.prototype.handleMoveEvent = function (evt) {
|
|
|
|
if (this.cursor_) {
|
|
|
|
var map = evt.map;
|
|
|
|
var feature = map.forEachFeatureAtPixel(evt.pixel,
|
|
|
|
function (feature, layer) {
|
|
|
|
return feature;
|
|
|
|
});
|
|
|
|
var element = evt.map.getTargetElement();
|
|
|
|
if (feature) {
|
|
|
|
if (element.style.cursor != this.cursor_) {
|
|
|
|
this.previousCursor_ = element.style.cursor;
|
|
|
|
element.style.cursor = this.cursor_;
|
|
|
|
}
|
|
|
|
} else if (this.previousCursor_ !== undefined) {
|
|
|
|
element.style.cursor = this.previousCursor_;
|
|
|
|
this.previousCursor_ = undefined;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
};
|
|
|
|
|
|
|
|
/**
|
|
|
|
* @param {ol.MapBrowserEvent} evt Map browser event.
|
|
|
|
* @return {boolean} `false` to stop the drag sequence.
|
|
|
|
*/
|
|
|
|
app.Drag.prototype.handleUpEvent = function (evt) {
|
|
|
|
this.coordinate_ = null;
|
|
|
|
this.feature_ = null;
|
|
|
|
return false;
|
|
|
|
};
|
|
|
|
|
|
|
|
var lat = (GPS_DATA ? (GPS_DATA.lat / 10000000) : 0);
|
|
|
|
var lon = (GPS_DATA ? (GPS_DATA.lon / 10000000) : 0);
|
|
|
|
|
|
|
|
let mapLayer;
|
|
|
|
|
|
|
|
if (globalSettings.mapProviderType == 'bing') {
|
|
|
|
mapLayer = new ol.source.BingMaps({
|
|
|
|
key: globalSettings.mapApiKey,
|
|
|
|
imagerySet: 'AerialWithLabels',
|
|
|
|
maxZoom: 19
|
|
|
|
});
|
|
|
|
} else if ( globalSettings.mapProviderType == 'mapproxy' ) {
|
|
|
|
mapLayer = new ol.source.TileWMS({
|
|
|
|
url: globalSettings.proxyURL,
|
|
|
|
params: {'LAYERS':globalSettings.proxyLayer}
|
|
|
|
})
|
|
|
|
} else {
|
|
|
|
mapLayer = new ol.source.OSM();
|
|
|
|
}
|
|
|
|
|
|
|
|
map = new ol.Map({
|
|
|
|
controls: ol.control.defaults({
|
|
|
|
attributionOptions: {
|
|
|
|
collapsible: false
|
|
|
|
}
|
|
|
|
}).extend([
|
|
|
|
new app.PlannerSettingsControl()
|
|
|
|
]),
|
|
|
|
interactions: ol.interaction.defaults().extend([new app.Drag()]),
|
|
|
|
layers: [
|
|
|
|
new ol.layer.Tile({
|
|
|
|
source: mapLayer
|
|
|
|
})
|
|
|
|
],
|
|
|
|
target: document.getElementById('missionMap'),
|
|
|
|
view: new ol.View({
|
|
|
|
center: ol.proj.fromLonLat([lon, lat]),
|
|
|
|
zoom: 2
|
|
|
|
})
|
|
|
|
});
|
|
|
|
|
|
|
|
// Set the attribute link to open on an external browser window, so
|
|
|
|
// it doesn't interfere with the configurator.
|
|
|
|
setTimeout(function() {
|
|
|
|
$('.ol-attribution a').attr('target', '_blank');
|
|
|
|
}, 100);
|
|
|
|
|
|
|
|
// save map view settings when user moves it
|
|
|
|
map.on('moveend', function (evt) {
|
|
|
|
chrome.storage.local.set({'missionPlanerLastValues': {
|
|
|
|
center: ol.proj.toLonLat(map.getView().getCenter()),
|
|
|
|
zoom: map.getView().getZoom()
|
|
|
|
}});
|
|
|
|
});
|
|
|
|
|
|
|
|
// load map view settings on startup
|
|
|
|
chrome.storage.local.get('missionPlanerLastValues', function (result) {
|
|
|
|
if (result.missionPlanerLastValues && result.missionPlanerLastValues.center) {
|
|
|
|
map.getView().setCenter(ol.proj.fromLonLat(result.missionPlanerLastValues.center));
|
|
|
|
map.getView().setZoom(result.missionPlanerLastValues.zoom);
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
map.on('click', function (evt) {
|
|
|
|
if (selectedMarker != null) {
|
|
|
|
try {
|
|
|
|
selectedMarker.getSource().getFeatures()[0].setStyle(getPointIcon());
|
|
|
|
selectedMarker = null;
|
|
|
|
clearEditForm();
|
|
|
|
} catch (e) {
|
|
|
|
GUI.log(e);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
var selectedFeature = map.forEachFeatureAtPixel(evt.pixel,
|
|
|
|
function (feature, layer) {
|
|
|
|
return feature;
|
|
|
|
});
|
|
|
|
var tempMarker = map.forEachFeatureAtPixel(evt.pixel,
|
|
|
|
function (feature, layer) {
|
|
|
|
return layer;
|
|
|
|
});
|
|
|
|
if (selectedFeature)
|
|
|
|
{
|
|
|
|
for (var i in markers)
|
|
|
|
{
|
|
|
|
if (markers[i] == tempMarker)
|
|
|
|
{
|
|
|
|
selectedMarker = tempMarker;
|
|
|
|
|
|
|
|
var geometry = selectedFeature.getGeometry();
|
|
|
|
var coord = ol.proj.toLonLat(geometry.getCoordinates());
|
|
|
|
|
|
|
|
selectedFeature.setStyle(getPointIcon(true));
|
|
|
|
|
|
|
|
var altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.alt);
|
|
|
|
|
|
|
|
$('#altitudeInMeters').text(` ${altitudeMeters}m`);
|
|
|
|
$('#pointLon').val(Math.round(coord[0] * 10000000) / 10000000);
|
|
|
|
$('#pointLat').val(Math.round(coord[1] * 10000000) / 10000000);
|
|
|
|
$('#pointAlt').val(selectedMarker.alt);
|
|
|
|
$('#pointType').val(selectedMarker.action);
|
|
|
|
$('#pointSpeed').val(selectedMarker.speedValue);
|
|
|
|
$('#MPeditPoint').fadeIn(300);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
map.addLayer(addMarker(evt.coordinate, settings.alt, MWNP.WPTYPE.WAYPOINT, settings.speed));
|
|
|
|
repaint();
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
// change mouse cursor when over marker
|
|
|
|
$(map.getViewport()).on('mousemove', function (e) {
|
|
|
|
var pixel = map.getEventPixel(e.originalEvent);
|
|
|
|
var hit = map.forEachFeatureAtPixel(pixel, function (feature, layer) {
|
|
|
|
return true;
|
|
|
|
});
|
|
|
|
if (hit) {
|
|
|
|
map.getTarget().style.cursor = 'pointer';
|
|
|
|
} else {
|
|
|
|
map.getTarget().style.cursor = '';
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
// handle map size on container resize
|
|
|
|
setInterval(function () {
|
|
|
|
let width = $("#missionMap canvas").width(), height = $("#missionMap canvas").height();
|
|
|
|
if ((map.width_ != width) || (map.height_ != height)) map.updateSize();
|
|
|
|
map.width_ = width; map.height_ = height;
|
|
|
|
}, 200);
|
|
|
|
|
|
|
|
$('#pointAlt').keyup(function(){
|
|
|
|
let altitudeMeters = app.ConvertCentimetersToMeters($(this).val());
|
|
|
|
$('#altitudeInMeters').text(` ${altitudeMeters}m`);
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#removeAllPoints').on('click', function () {
|
|
|
|
if (markers.length && confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) {
|
|
|
|
removeAllPoints();
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#removePoint').on('click', function () {
|
|
|
|
if (selectedMarker) {
|
|
|
|
|
|
|
|
var tmp = [];
|
|
|
|
for (var i in markers) {
|
|
|
|
if (markers[i] !== selectedMarker && typeof markers[i].action !== "undefined") {
|
|
|
|
tmp.push(markers[i]);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
map.removeLayer(selectedMarker);
|
|
|
|
markers = tmp;
|
|
|
|
selectedMarker = null;
|
|
|
|
|
|
|
|
clearEditForm();
|
|
|
|
repaint();
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#savePoint').on('click', function () {
|
|
|
|
if (selectedMarker) {
|
|
|
|
map.getLayers().forEach(function (t) {
|
|
|
|
if (t === selectedMarker) {
|
|
|
|
var geometry = t.getSource().getFeatures()[0].getGeometry();
|
|
|
|
geometry.setCoordinates(ol.proj.fromLonLat([parseFloat($('#pointLon').val()), parseFloat($('#pointLat').val())]));
|
|
|
|
t.alt = $('#pointAlt').val();
|
|
|
|
t.action = $('#pointType').val();
|
|
|
|
t.speedValue = $('#pointSpeed').val();
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
selectedMarker.getSource().getFeatures()[0].setStyle(getPointIcon());
|
|
|
|
selectedMarker = null;
|
|
|
|
clearEditForm();
|
|
|
|
repaint();
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#loadFileMissionButton').on('click', function () {
|
|
|
|
if (markers.length && !confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) return;
|
|
|
|
removeAllPoints();
|
|
|
|
nwdialog.setContext(document);
|
|
|
|
nwdialog.openFileDialog(function(result) {
|
|
|
|
loadMissionFile(result);
|
|
|
|
})
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#saveFileMissionButton').on('click', function () {
|
|
|
|
//if (!markers.length) return;
|
|
|
|
nwdialog.setContext(document);
|
|
|
|
nwdialog.saveFileDialog('', '.mission', function(result) {
|
|
|
|
saveMissionFile(result);
|
|
|
|
})
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#loadMissionButton').on('click', function () {
|
|
|
|
if (markers.length && !confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) return;
|
|
|
|
removeAllPoints();
|
|
|
|
$(this).addClass('disabled');
|
|
|
|
GUI.log('Start get point');
|
|
|
|
|
|
|
|
pointForSend = 0;
|
|
|
|
getNextPoint();
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#saveMissionButton').on('click', function () {
|
|
|
|
$(this).addClass('disabled');
|
|
|
|
GUI.log('Start send point');
|
|
|
|
|
|
|
|
pointForSend = 0;
|
|
|
|
sendNextPoint();
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#loadEepromMissionButton').on('click', function () {
|
|
|
|
if (markers.length && !confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) return;
|
|
|
|
removeAllPoints();
|
|
|
|
GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
|
|
|
|
|
|
|
|
MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getPointsFromEprom);
|
|
|
|
});
|
|
|
|
$('#saveEepromMissionButton').on('click', function () {
|
|
|
|
GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
|
|
|
|
MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false);
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#rthEndMission').on('change', function () {
|
|
|
|
if ($(this).is(':checked')) {
|
|
|
|
$('#rthSettings').fadeIn(300);
|
|
|
|
} else {
|
|
|
|
$('#rthSettings').fadeOut(300);
|
|
|
|
}
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#saveSettings').on('click', function () {
|
|
|
|
settings = { speed: $('#MPdefaultPointSpeed').val(), alt: $('#MPdefaultPointAlt').val() };
|
|
|
|
saveSettings();
|
|
|
|
closeSettingsPanel();
|
|
|
|
});
|
|
|
|
|
|
|
|
$('#cancelSettings').on('click', function () {
|
|
|
|
loadSettings();
|
|
|
|
closeSettingsPanel();
|
|
|
|
});
|
|
|
|
|
|
|
|
updateTotalInfo();
|
|
|
|
}
|
|
|
|
|
|
|
|
function closeSettingsPanel() {
|
|
|
|
$('#missionPlanerSettings').hide();
|
|
|
|
$('#missionPalnerTotalInfo').fadeIn(300);
|
|
|
|
if (selectedMarker !== null) {
|
|
|
|
$('#MPeditPoint').fadeIn(300);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
function removeAllPoints() {
|
|
|
|
for (var i in markers) {
|
|
|
|
map.removeLayer(markers[i]);
|
|
|
|
}
|
|
|
|
markers = [];
|
|
|
|
clearEditForm();
|
|
|
|
updateTotalInfo();
|
|
|
|
$('#rthEndMission').prop('checked', false);
|
|
|
|
$('#rthSettings').fadeOut(300);
|
|
|
|
$('#rthLanding').prop('checked', false);
|
|
|
|
repaint();
|
|
|
|
}
|
|
|
|
|
|
|
|
function loadMissionFile(filename) {
|
|
|
|
const fs = require('fs');
|
|
|
|
if (!window.xml2js) return GUI.log('<span style="color: red">Error reading file (xml2js not found)</span>');
|
|
|
|
|
|
|
|
fs.readFile(filename, (err, data) => {
|
|
|
|
if (err) {
|
|
|
|
GUI.log('<span style="color: red">Error reading file</span>');
|
|
|
|
return console.error(err);
|
|
|
|
}
|
|
|
|
|
|
|
|
window.xml2js.Parser({ 'explicitChildren': true, 'preserveChildrenOrder': true }).parseString(data, (err, result) => {
|
|
|
|
if (err) {
|
|
|
|
GUI.log('<span style="color: red">Error parsing file</span>');
|
|
|
|
return console.error(err);
|
|
|
|
}
|
|
|
|
|
|
|
|
// parse mission file
|
|
|
|
var mission = { points: [] };
|
|
|
|
var node = null;
|
|
|
|
var nodemission = null;
|
|
|
|
for (var noderoot in result) {
|
|
|
|
if (!nodemission && noderoot.match(/mission/i)) {
|
|
|
|
nodemission = result[noderoot];
|
|
|
|
if (nodemission.$$ && nodemission.$$.length) {
|
|
|
|
for (var i = 0; i < nodemission.$$.length; i++) {
|
|
|
|
node = nodemission.$$[i];
|
|
|
|
if (node['#name'].match(/version/i) && node.$) {
|
|
|
|
for (var attr in node.$) {
|
|
|
|
if (attr.match(/value/i)) {
|
|
|
|
mission.version = node.$[attr]
|
|
|
|
}
|
|
|
|
}
|
|
|
|
} else if (node['#name'].match(/mwp/i) && node.$) {
|
|
|
|
mission.center = {};
|
|
|
|
for (var attr in node.$) {
|
|
|
|
if (attr.match(/zoom/i)) {
|
|
|
|
mission.center.zoom = parseInt(node.$[attr]);
|
|
|
|
} else if (attr.match(/cx/i)) {
|
|
|
|
mission.center.lon = parseFloat(node.$[attr]);
|
|
|
|
} else if (attr.match(/cy/i)) {
|
|
|
|
mission.center.lat = parseFloat(node.$[attr]);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
} else if (node['#name'].match(/missionitem/i) && node.$) {
|
|
|
|
var point = {};
|
|
|
|
for (var attr in node.$) {
|
|
|
|
if (attr.match(/no/i)) {
|
|
|
|
point.index = parseInt(node.$[attr]);
|
|
|
|
} else if (attr.match(/action/i)) {
|
|
|
|
if (node.$[attr].match(/WAYPOINT/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.WAYPOINT;
|
|
|
|
} else if (node.$[attr].match(/PH_UNLIM/i) || node.$[attr].match(/POSHOLD_UNLIM/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.PH_UNLIM;
|
|
|
|
} else if (node.$[attr].match(/PH_TIME/i) || node.$[attr].match(/POSHOLD_TIME/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.PH_TIME;
|
|
|
|
} else if (node.$[attr].match(/RTH/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.RTH;
|
|
|
|
} else if (node.$[attr].match(/SET_POI/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.SET_POI;
|
|
|
|
} else if (node.$[attr].match(/JUMP/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.JUMP;
|
|
|
|
} else if (node.$[attr].match(/SET_HEAD/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.SET_HEAD;
|
|
|
|
} else if (node.$[attr].match(/LAND/i)) {
|
|
|
|
point.action = MWNP.WPTYPE.LAND;
|
|
|
|
} else {
|
|
|
|
point.action = 0;
|
|
|
|
}
|
|
|
|
} else if (attr.match(/lat/i)) {
|
|
|
|
point.lat = parseFloat(node.$[attr]);
|
|
|
|
} else if (attr.match(/lon/i)) {
|
|
|
|
point.lon = parseFloat(node.$[attr]);
|
|
|
|
} else if (attr.match(/alt/i)) {
|
|
|
|
point.alt = (parseInt(node.$[attr]) * 100);
|
|
|
|
} else if (attr.match(/parameter1/i)) {
|
|
|
|
point.p1 = parseInt(node.$[attr]);
|
|
|
|
} else if (attr.match(/parameter2/i)) {
|
|
|
|
point.p2 = parseInt(node.$[attr]);
|
|
|
|
} else if (attr.match(/parameter3/i)) {
|
|
|
|
point.p3 = parseInt(node.$[attr]);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
mission.points.push(point);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// draw actual mission
|
|
|
|
removeAllPoints();
|
|
|
|
for (var i = 0; i < mission.points.length; i++) {
|
|
|
|
//if ([MWNP.WPTYPE.WAYPOINT,MWNP.WPTYPE.PH_UNLIM,MWNP.WPTYPE.PH_TIME,MWNP.WPTYPE.LAND].includes(mission.points[i].action)) {
|
|
|
|
if (mission.points[i].action == MWNP.WPTYPE.WAYPOINT) {
|
|
|
|
var coord = ol.proj.fromLonLat([mission.points[i].lon, mission.points[i].lat]);
|
|
|
|
map.addLayer(addMarker(coord, mission.points[i].alt, mission.points[i].action, mission.points[i].p1));
|
|
|
|
if (i == 0) {
|
|
|
|
map.getView().setCenter(coord);
|
|
|
|
map.getView().setZoom(16);
|
|
|
|
}
|
|
|
|
} else if (mission.points[i].action == MWNP.WPTYPE.RTH) {
|
|
|
|
$('#rthEndMission').prop('checked', true);
|
|
|
|
$('#rthSettings').fadeIn(300);
|
|
|
|
if (mission.points[i].p1 > 0) {
|
|
|
|
$('#rthLanding').prop('checked', true);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if (mission.center) {
|
|
|
|
var coord = ol.proj.fromLonLat([mission.center.lon, mission.center.lat]);
|
|
|
|
map.getView().setCenter(coord);
|
|
|
|
if (mission.center.zoom) map.getView().setZoom(mission.center.zoom);
|
|
|
|
}
|
|
|
|
|
|
|
|
repaint();
|
|
|
|
updateTotalInfo();
|
|
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
});
|
|
|
|
}
|
|
|
|
|
|
|
|
function saveMissionFile(filename) {
|
|
|
|
const fs = require('fs');
|
|
|
|
if (!window.xml2js) return GUI.log('<span style="color: red">Error writing file (xml2js not found)</span>');
|
|
|
|
|
|
|
|
var center = ol.proj.toLonLat(map.getView().getCenter());
|
|
|
|
var zoom = map.getView().getZoom();
|
|
|
|
|
|
|
|
var data = {
|
|
|
|
'version': { $: { 'value': '2.3-pre8' } },
|
|
|
|
'mwp': { $: { 'cx': (Math.round(center[0] * 10000000) / 10000000), 'cy': (Math.round(center[1] * 10000000) / 10000000), 'zoom': zoom } },
|
|
|
|
'missionitem': []
|
|
|
|
};
|
|
|
|
|
|
|
|
for (var i = 0; i < markers.length; i++) {
|
|
|
|
var geometry = markers[i].getSource().getFeatures()[0].getGeometry();
|
|
|
|
var coordinate = ol.proj.toLonLat(geometry.getCoordinates());
|
|
|
|
var point = { $: {
|
|
|
|
'no': (i + 1),
|
|
|
|
'action': ((markers[i].action == MWNP.WPTYPE.WAYPOINT) ? 'WAYPOINT' : markers[i].action),
|
|
|
|
'lon': (Math.round(coordinate[0] * 10000000) / 10000000),
|
|
|
|
'lat': (Math.round(coordinate[1] * 10000000) / 10000000),
|
|
|
|
'alt': (markers[i].alt / 100)
|
|
|
|
} };
|
|
|
|
if ((markers[i].action == MWNP.WPTYPE.WAYPOINT) && (markers[i].speedValue > 0)) point.$['parameter1'] = markers[i].speedValue;
|
|
|
|
data.missionitem.push(point);
|
|
|
|
}
|
|
|
|
|
|
|
|
// add last RTH point
|
|
|
|
if ($('#rthEndMission').is(':checked')) {
|
|
|
|
data.missionitem.push({ $: { 'no': (markers.length + 1), 'action': 'RTH', 'lon': 0, 'lat': 0, 'alt': (settings.alt / 100), 'parameter1': ($('#rthLanding').is(':checked') ? 1 : 0) } });
|
|
|
|
}
|
|
|
|
|
|
|
|
var builder = new window.xml2js.Builder({ 'rootName': 'mission', 'renderOpts': { 'pretty': true, 'indent': '\t', 'newline': '\n' } });
|
|
|
|
var xml = builder.buildObject(data);
|
|
|
|
fs.writeFile(filename, xml, (err) => {
|
|
|
|
if (err) {
|
|
|
|
GUI.log('<span style="color: red">Error writing file</span>');
|
|
|
|
return console.error(err);
|
|
|
|
}
|
|
|
|
GUI.log('File saved');
|
|
|
|
});
|
|
|
|
}
|
|
|
|
|
|
|
|
function getPointsFromEprom() {
|
|
|
|
pointForSend = 0;
|
|
|
|
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getNextPoint);
|
|
|
|
}
|
|
|
|
|
|
|
|
function endGetPoint() {
|
|
|
|
GUI.log('End get point');
|
|
|
|
$('#loadMissionButton').removeClass('disabled');
|
|
|
|
repaint();
|
|
|
|
updateTotalInfo();
|
|
|
|
}
|
|
|
|
|
|
|
|
function getNextPoint() {
|
|
|
|
if (MISSION_PLANER.countBusyPoints == 0) {
|
|
|
|
endGetPoint();
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (pointForSend > 0) {
|
|
|
|
// console.log(MISSION_PLANER.bufferPoint.lon);
|
|
|
|
// console.log(MISSION_PLANER.bufferPoint.lat);
|
|
|
|
// console.log(MISSION_PLANER.bufferPoint.alt);
|
|
|
|
// console.log(MISSION_PLANER.bufferPoint.action);
|
|
|
|
if (MISSION_PLANER.bufferPoint.action == 4) {
|
|
|
|
$('#rthEndMission').prop('checked', true);
|
|
|
|
$('#rthSettings').fadeIn(300);
|
|
|
|
if (MISSION_PLANER.bufferPoint.p1 > 0) {
|
|
|
|
$('#rthLanding').prop('checked', true);
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
var coord = ol.proj.fromLonLat([MISSION_PLANER.bufferPoint.lon, MISSION_PLANER.bufferPoint.lat]);
|
|
|
|
map.addLayer(addMarker(coord, MISSION_PLANER.bufferPoint.alt, MISSION_PLANER.bufferPoint.action, MISSION_PLANER.bufferPoint.p1));
|
|
|
|
if (pointForSend === 1) {
|
|
|
|
map.getView().setCenter(coord);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if (pointForSend >= MISSION_PLANER.countBusyPoints) {
|
|
|
|
endGetPoint();
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
MISSION_PLANER.bufferPoint.number = pointForSend;
|
|
|
|
|
|
|
|
pointForSend++;
|
|
|
|
|
|
|
|
MSP.send_message(MSPCodes.MSP_WP, mspHelper.crunch(MSPCodes.MSP_WP), false, getNextPoint);
|
|
|
|
}
|
|
|
|
|
|
|
|
function sendNextPoint() {
|
|
|
|
var isRTH = $('#rthEndMission').is(':checked');
|
|
|
|
|
|
|
|
if (pointForSend >= markers.length) {
|
|
|
|
if (isRTH) {
|
|
|
|
MISSION_PLANER.bufferPoint.number = pointForSend + 1;
|
|
|
|
MISSION_PLANER.bufferPoint.action = 4;
|
|
|
|
MISSION_PLANER.bufferPoint.lon = 0;
|
|
|
|
MISSION_PLANER.bufferPoint.lat = 0;
|
|
|
|
MISSION_PLANER.bufferPoint.alt = 0;
|
|
|
|
MISSION_PLANER.bufferPoint.endMission = 0xA5;
|
|
|
|
MISSION_PLANER.bufferPoint.p1 = $('#rthLanding').is(':checked') ? 1 : 0;
|
|
|
|
MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, endSendPoint);
|
|
|
|
} else {
|
|
|
|
endSendPoint();
|
|
|
|
}
|
|
|
|
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
var geometry = markers[pointForSend].getSource().getFeatures()[0].getGeometry();
|
|
|
|
var coordinate = ol.proj.toLonLat(geometry.getCoordinates());
|
|
|
|
|
|
|
|
MISSION_PLANER.bufferPoint.number = pointForSend + 1;
|
|
|
|
MISSION_PLANER.bufferPoint.action = markers[pointForSend].action;
|
|
|
|
MISSION_PLANER.bufferPoint.lon = parseInt(coordinate[0] * 10000000);
|
|
|
|
MISSION_PLANER.bufferPoint.lat = parseInt(coordinate[1] * 10000000);
|
|
|
|
MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
|
|
|
|
MISSION_PLANER.bufferPoint.p1 = markers[pointForSend].speedValue;
|
|
|
|
pointForSend++;
|
|
|
|
if (pointForSend >= markers.length && !isRTH) {
|
|
|
|
MISSION_PLANER.bufferPoint.endMission = 0xA5;
|
|
|
|
} else {
|
|
|
|
MISSION_PLANER.bufferPoint.endMission = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, sendNextPoint);
|
|
|
|
}
|
|
|
|
|
|
|
|
function endSendPoint() {
|
|
|
|
GUI.log('End send point');
|
|
|
|
|
|
|
|
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, updateTotalInfo);
|
|
|
|
|
|
|
|
$('#saveMissionButton').removeClass('disabled');
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
TABS.mission_control.cleanup = function (callback) {
|
|
|
|
if (callback) callback();
|
|
|
|
};
|