APM Planner 1.1.6

fix updater for recursive dirs
add network kml = google earth 3d display
remove ]]> from kml
swap geo ref from ms image parse to custom

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -556,6 +556,9 @@
     <None Include="defines.h">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </None>
+    <None Include="m3u\networklink.kml">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </None>
     <None Include="MAC\Info.plist" />
     <None Include="MAC\run.sh" />
     <None Include="mykey.snk" />

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -1375,8 +1375,92 @@ namespace ArdupilotMega
                             }
                         }
                     }
-                    else if (url.Contains(".html"))
+                    else if (url.Contains("network.kml"))
                     {
+                        string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\n\n";
+                        byte[] temp = encoding.GetBytes(header);
+                        stream.Write(temp, 0, temp.Length);
+
+                        SharpKml.Dom.Document kml = new SharpKml.Dom.Document();
+
+                        SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
+                        pmplane.Name = "P/Q ";
+
+                        pmplane.Visibility = true;
+
+                        SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
+                        loc.Latitude = cs.lat;
+                        loc.Longitude = cs.lng;
+                        loc.Altitude = cs.alt;
+
+                        if (loc.Altitude < 0)
+                            loc.Altitude = 0.01;
+
+                        SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
+                        ori.Heading = cs.yaw;
+                        ori.Roll = -cs.roll;
+                        ori.Tilt = -cs.pitch;
+
+                        SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
+
+                        sca.X = 2;
+                        sca.Y = 2;
+                        sca.Z = 2;
+
+                        SharpKml.Dom.Model model = new SharpKml.Dom.Model();
+                        model.Location = loc;
+                        model.Orientation = ori;
+                        model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
+                        model.Scale = sca;
+
+                        SharpKml.Dom.Link link = new SharpKml.Dom.Link();
+                        link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
+
+                        model.Link = link;
+
+                        pmplane.Geometry = model;
+
+                        SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt() 
+                        { Altitude = loc.Altitude.Value, Latitude = loc.Latitude.Value, Longitude = loc.Longitude.Value, Tilt = 80,
+                            Heading = cs.yaw, AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute, Range = 50};
+
+                        kml.Viewpoint = la;
+                        
+                        kml.AddFeature(pmplane);
+
+                        SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
+                        serializer.Serialize(kml);
+
+                        byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);
+
+                        stream.Write(buffer, 0, buffer.Length);
+
+                        stream.Close();
+                    }
+                    else if (url.Contains("block_plane_0.dae"))
+                    {
+                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\n\n";
+                        byte[] temp = encoding.GetBytes(header);
+                        stream.Write(temp, 0, temp.Length);
+
+                        BinaryReader file = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
+                        byte[] buffer = new byte[1024];
+                        while (file.PeekChar() != -1)
+                        {
+
+                            int leng = file.Read(buffer, 0, buffer.Length);
+
+                            stream.Write(buffer, 0, leng);
+                        }
+                        file.Close();
+                        stream.Close();
+                    }
+                    else if (url.Contains("hud.html"))
+                    {
+                        string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\n\n";
+                        byte[] temp = encoding.GetBytes(header);
+                        stream.Write(temp, 0, temp.Length);
+
                         BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
                         byte[] buffer = new byte[1024];
                         while (file.PeekChar() != -1)
@@ -1589,7 +1673,7 @@ namespace ArdupilotMega
                 }
                 if (file.EndsWith("/"))
                 {
-                    update = updatecheck(loadinglabel, baseurl + file, file) && update;
+                    update = updatecheck(loadinglabel, baseurl + file, subdir.Replace("/", "\\") + file) && update;
                     continue;
                 }
                 if (loadinglabel != null)

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -227,8 +227,8 @@ namespace ArdupilotMega
                 <tr><td>Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" </td></tr>
                 <tr><td>Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" </td></tr>
                 <tr><td>Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" </td></tr>
-              </table>
+              </table> ";
-            ]]>";
+//            ]]>";
 
                     pmplane.Description = desc;
                 }

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.5")]
+[assembly: AssemblyFileVersion("1.1.6")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/bin/Release/m3u/networklink.kml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
+<Folder>
+	<name>Network Links</name>
+	<open>1</open>
+	<NetworkLink>
+		<name>View Centered Placemark</name>
+		<open>1</open>
+		<refreshVisibility>0</refreshVisibility>
+		<flyToView>1</flyToView>
+		<Link>
+			<href>http://127.0.0.1:56781/network.kml</href>
+			<refreshMode>onInterval</refreshMode>
+			<refreshInterval>1</refreshInterval>
+			<viewRefreshTime>1</viewRefreshTime>
+		</Link>
+	</NetworkLink>
+</Folder>
+</kml>