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https://bitbucket.org/librepilot/librepilot.git
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Merge branch 'next' into corvuscorax/OP-1036_fixed-wing-improvements
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Corvus Corax
commit
02f11eeb5b
@ -27,6 +27,7 @@
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#include "urlfactory.h"
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#include <QRegExp>
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namespace core {
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const double UrlFactory::EarthRadiusKm = 6378.137; // WGS-84
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@ -85,8 +86,14 @@ bool UrlFactory::IsCorrectGoogleVersions()
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void UrlFactory::TryCorrectGoogleVersions()
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{
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static bool versionRetrieved = false;
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if (versionRetrieved) {
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return;
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}
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QMutexLocker locker(&mutex);
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if (CorrectGoogleVersions && !IsCorrectGoogleVersions()) {
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QNetworkReply *reply;
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QNetworkRequest qheader;
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@ -101,8 +108,8 @@ void UrlFactory::TryCorrectGoogleVersions()
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#ifdef DEBUG_URLFACTORY
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qDebug() << "Correct GoogleVersion";
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#endif // DEBUG_URLFACTORY
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setIsCorrectGoogleVersions(true);
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QString url = "http://maps.google.com";
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// setIsCorrectGoogleVersions(true);
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QString url = "https://maps.google.com";
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qheader.setUrl(QUrl(url));
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qheader.setRawHeader("User-Agent", UserAgent);
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@ -120,26 +127,28 @@ void UrlFactory::TryCorrectGoogleVersions()
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return;
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}
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QString html = QString(reply->readAll());
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QRegExp reg("\"*http://mt0.google.com/vt/lyrs=m@(\\d*)", Qt::CaseInsensitive);
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QRegExp reg("\"*https://mts0.google.com/vt/lyrs=m@(\\d*)", Qt::CaseInsensitive);
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if (reg.indexIn(html) != -1) {
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QStringList gc = reg.capturedTexts();
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VersionGoogleMap = QString("m@%1").arg(gc[1]);
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VersionGoogleMapChina = VersionGoogleMap;
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VersionGoogleMapKorea = VersionGoogleMap;
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#ifdef DEBUG_URLFACTORY
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qDebug() << "TryCorrectGoogleVersions, VersionGoogleMap: " << VersionGoogleMap;
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#endif // DEBUG_URLFACTORY
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}
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reg = QRegExp("\"*http://mt0.google.com/vt/lyrs=h@(\\d*)", Qt::CaseInsensitive);
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reg = QRegExp("\"*https://mts0.google.com/vt/lyrs=h@(\\d*)", Qt::CaseInsensitive);
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if (reg.indexIn(html) != -1) {
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QStringList gc = reg.capturedTexts();
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VersionGoogleLabels = QString("h@%1").arg(gc[1]);
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VersionGoogleLabelsChina = VersionGoogleLabels;
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VersionGoogleLabelsKorea = VersionGoogleLabels;
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#ifdef DEBUG_URLFACTORY
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qDebug() << "TryCorrectGoogleVersions, VersionGoogleLabels: " << VersionGoogleLabels;
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#endif // DEBUG_URLFACTORY
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}
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reg = QRegExp("\"*http://khm0.google.com/kh/v=(\\d*)", Qt::CaseInsensitive);
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reg = QRegExp("\"*https://khms0.google.com/kh/v=(\\d*)", Qt::CaseInsensitive);
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if (reg.indexIn(html) != -1) {
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QStringList gc = reg.capturedTexts();
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VersionGoogleSatellite = gc[1];
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@ -148,16 +157,18 @@ void UrlFactory::TryCorrectGoogleVersions()
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qDebug() << "TryCorrectGoogleVersions, VersionGoogleSatellite: " << VersionGoogleSatellite;
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}
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reg = QRegExp("\"*http://mt0.google.com/vt/lyrs=t@(\\d*),r@(\\d*)", Qt::CaseInsensitive);
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reg = QRegExp("\"*https://mts0.google.com/vt/lyrs=t@(\\d*),r@(\\d*)", Qt::CaseInsensitive);
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if (reg.indexIn(html) != -1) {
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QStringList gc = reg.capturedTexts();
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VersionGoogleTerrain = QString("t@%1,r@%2").arg(gc[1]).arg(gc[2]);
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VersionGoogleTerrainChina = VersionGoogleTerrain;
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VersionGoogleTerrainChina = VersionGoogleTerrain;
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#ifdef DEBUG_URLFACTORY
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qDebug() << "TryCorrectGoogleVersions, VersionGoogleTerrain: " << VersionGoogleTerrain;
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#endif // DEBUG_URLFACTORY
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}
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reply->deleteLater();
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versionRetrieved = true;
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}
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}
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@ -169,48 +180,48 @@ QString UrlFactory::MakeImageUrl(const MapType::Types &type, const Point &pos, c
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switch (type) {
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case MapType::GoogleMap:
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{
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QString server = "mt";
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QString server = "mts";
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QString request = "vt";
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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TryCorrectGoogleVersions();
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return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleMap).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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return QString("https://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleMap).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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}
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break;
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case MapType::GoogleSatellite:
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{
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QString server = "khm";
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QString server = "khms";
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QString request = "kh";
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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TryCorrectGoogleVersions();
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return QString("http://%1%2.google.com/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleSatellite).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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QString VersionGoogleSatellite = "132";
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return QString("https://%1%2.google.com/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleSatellite).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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}
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break;
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case MapType::GoogleLabels:
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{
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QString server = "mt";
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QString server = "mts";
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QString request = "vt";
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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TryCorrectGoogleVersions();
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return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleLabels).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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return QString("https://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleLabels).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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}
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break;
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case MapType::GoogleTerrain:
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{
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QString server = "mt";
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QString server = "mts";
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QString request = "vt";
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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TryCorrectGoogleVersions();
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return QString("http://%1%2.google.com/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleTerrain).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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return QString("https://%1%2.google.com/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleTerrain).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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}
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break;
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case MapType::GoogleMapChina:
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@ -233,7 +244,7 @@ QString UrlFactory::MakeImageUrl(const MapType::Types &type, const Point &pos, c
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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// TryCorrectGoogleVersions();
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TryCorrectGoogleVersions();
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// http://khm0.google.cn/kh/v=46&x=12&y=6&z=4&s=Ga
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return QString("http://%1%2.google.cn/%3/lyrs=%4&gl=cn&x=%5%6&y=%7&z=%8&s=%9").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleSatelliteChina).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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@ -267,42 +278,45 @@ QString UrlFactory::MakeImageUrl(const MapType::Types &type, const Point &pos, c
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break;
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case MapType::GoogleMapKorea:
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{
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QString server = "mt";
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QString request = "mt";
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QString server = "mts";
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QString request = "vt";
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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TryCorrectGoogleVersions();
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// https://mts0.google.com/vt/lyrs=m@224000000&hl=ko&gl=KR&src=app&x=107&y=50&z=7&s=Gal
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// https://mts0.google.com/mt/v=kr1.11&hl=ko&x=109&y=49&z=7&s=
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// http://mt3.gmaptiles.co.kr/mt/v=kr1.11&hl=lt&x=109&y=49&z=7&s=
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qDebug() << QString("https://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleMapKorea).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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QString ret = QString("http://%1%2.gmaptiles.co.kr/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleMapKorea).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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QString ret = QString("https://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleMapKorea).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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return ret;
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}
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break;
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case MapType::GoogleSatelliteKorea:
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{
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QString server = "khm";
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QString server = "khms";
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QString request = "kh";
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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TryCorrectGoogleVersions();
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// http://khm1.google.co.kr/kh/v=54&x=109&y=49&z=7&s=
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return QString("http://%1%2.google.co.kr/%3/v=%4&x=%5%6&y=%7&z=%8&s=%9").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleSatelliteKorea).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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return QString("https://%1%2.google.co.kr/%3/v=%4&x=%5%6&y=%7&z=%8&s=%9").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleSatelliteKorea).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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}
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break;
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case MapType::GoogleLabelsKorea:
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{
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QString server = "mt";
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QString server = "mts";
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QString request = "mt";
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QString sec1 = ""; // after &x=...
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QString sec2 = ""; // after &zoom=...
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GetSecGoogleWords(pos, sec1, sec2);
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TryCorrectGoogleVersions();
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// https://mts1.gmaptiles.co.kr/mt/v=kr1t.11&hl=lt&x=109&y=50&z=7&s=G
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// http://mt1.gmaptiles.co.kr/mt/v=kr1t.11&hl=lt&x=109&y=50&z=7&s=G
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return QString("http://%1%2.gmaptiles.co.kr/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleLabelsKorea).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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return QString("https://%1%2.gmaptiles.co.kr/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(GetServerNum(pos, 4)).arg(request).arg(VersionGoogleLabelsKorea).arg(language).arg(pos.X()).arg(sec1).arg(pos.Y()).arg(zoom).arg(sec2);
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}
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break;
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case MapType::YahooMap:
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@ -2,18 +2,18 @@
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<object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
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<description>Settings for the @ref VtolPathFollowerModule</description>
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<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
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<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/>
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<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="2"/>
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<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>
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<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="1,0,0"/>
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<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="5,0,1,0"/>
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<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/>
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<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
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<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
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<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.25,0.02,1"/>
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<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="8,0.5,0.002,4"/>
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<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.4,0.02,1"/>
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<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0.01,0,1"/>
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<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
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<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
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<field name="VelocitySource" units="" type="enum" elements="1" options="EKF,NEDVEL,GPSPOS" defaultvalue="EKF"/>
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<field name="PositionSource" units="" type="enum" elements="1" options="EKF,GPSPOS" defaultvalue="EKF"/>
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<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
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<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/>
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<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="50"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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