erp5_officejs_drone_simulator: use multicopter API

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.js

@@ -5,21 +5,149 @@
 var FixedWingDroneAPI = /** @class */ (function () {
   "use strict";
 
-  var DEFAULT_SPEED = 16,
-    PARACHUTE_SPEED = 8,
-    EARTH_GRAVITY = 9.81,
+  var EARTH_GRAVITY = 9.81,
     LOITER_LIMIT = 30,
-    MAX_ACCELERATION = 6,
-    MAX_DECELERATION = 1,
-    MIN_SPEED = 12,
-    MAX_SPEED = 26,
-    MAX_ROLL = 35,
-    MIN_PITCH = -20,
-    MAX_PITCH = 25,
-    MAX_CLIMB_RATE = 8,
-    MAX_SINK_RATE = 3,
-    VIEW_SCOPE = 100,
-    MAX_MESSAGE_SIZE = 1024;
+    MAX_MESSAGE_SIZE = 1024,
+    PARACHUTE_SPEED = 8,
+    VIEW_SCOPE = 100;
+
+  FixedWingDroneAPI.DRONE_TYPE = "Fixed Wings";
+  FixedWingDroneAPI.SCRIPT_NAME =
+    "gadget_erp5_page_drone_capture_flag_fixedwingdrone.js";
+  FixedWingDroneAPI.FORM_VIEW = {
+    "my_drone_min_speed": {
+      "description": "",
+      "title": "Drone min speed",
+      "default": 12,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "minSpeed",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_speed": {
+      "description": "",
+      "title": "Drone speed",
+      "default": 16,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "speed",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_speed": {
+      "description": "",
+      "title": "Drone max speed",
+      "default": 26,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxSpeed",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_acceleration": {
+      "description": "",
+      "title": "Drone max Acceleration",
+      "default": 6,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxAcceleration",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_deceleration": {
+      "description": "",
+      "title": "Drone max Deceleration",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxDeceleration",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_roll": {
+      "description": "",
+      "title": "Drone max roll",
+      "default": 35,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxRoll",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_min_pitch": {
+      "description": "",
+      "title": "Drone min pitch",
+      "default": -20,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "minPitchAngle",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_pitch": {
+      "description": "",
+      "title": "Drone max pitch",
+      "default": 25,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxPitchAngle",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_sink_rate": {
+      "description": "",
+      "title": "Drone max sink rate",
+      "default": 3,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxSinkRate",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_climb_rate": {
+      "description": "",
+      "title": "Drone max climb rate",
+      "default": 8,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxClimbRate",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_speed_factor": {
+      "description": "",
+      "title": "Drone speed factor",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "speedFactor",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_command_frequency": {
+      "description": "",
+      "title": "Drone max command frequency",
+      "default": 5,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxCommandFrequency",
+      "hidden": 0,
+      "type": "FloatField"
+    }
+  };
 
   //** CONSTRUCTOR
   function FixedWingDroneAPI(gameManager, drone_info, flight_parameters, id) {
@@ -98,14 +226,47 @@ var FixedWingDroneAPI = /** @class */ (function () {
   /*
   ** Function called on every drone update, right before onUpdate AI script
   */
-  FixedWingDroneAPI.prototype.internal_position_update = function (context, delta_time) {
-    if (context.position.z > 0) {
-      this._updateSpeed(context, delta_time);
-      this._updatePosition(context, delta_time);
+  FixedWingDroneAPI.prototype.internal_position_update =
+    function (context, delta_time) {
+      var currentGeoCoordinates = this._mapManager.convertToGeoCoordinates(
+          context.position.x,
+          context.position.y,
+          context.position.z
+        ),
+        targetCoordinates = this._mapManager.convertToGeoCoordinates(
+          context._targetCoordinates.x,
+          context._targetCoordinates.y,
+          context._targetCoordinates.z
+        ),
+        bearing = this._computeBearing(
+          currentGeoCoordinates.latitude,
+          currentGeoCoordinates.longitude,
+          targetCoordinates.latitude,
+          targetCoordinates.longitude
+        ),
+        distanceToTarget,
+        newYaw;
+
+      if (this._loiter_mode) {
+        distanceToTarget = Math.sqrt(
+          Math.pow(context._targetCoordinates.x - context.position.x, 2)
+            + Math.pow(context._targetCoordinates.y - context.position.y, 2)
+        );
+
+        if (Math.abs(distanceToTarget - this._loiter_radius) <= 1) {
+          newYaw = bearing - 90;
+        } else if (distanceToTarget < this._loiter_radius) {
+          newYaw = bearing - 135;
+        } else {
+          newYaw = this._getNewYaw(context, bearing, delta_time);
+        }
       } else {
-      context.setDirection(0, 0, 0);
+        newYaw = this._getNewYaw(context, bearing, delta_time);
       }
 
+      this._updateSpeed(context, delta_time);
+      this._updatePosition(context, newYaw, delta_time);
+
       context._controlMesh.computeWorldMatrix(true);
       context._mesh.computeWorldMatrix(true);
     };
@@ -140,115 +301,42 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
 
   FixedWingDroneAPI.prototype._updateSpeed = function (drone, delta_time) {
-    var speed = drone.get3DSpeed(), speedDiff, speedUpdate;
+    var speed = drone.get3DSpeed(), speedDiff,
+      speedUpdate = drone._acceleration * delta_time / 1000;
+
+    if (speed > this._targetSpeed) {
+      speedUpdate *= -1;
+    }
+
     if (speed !== this._targetSpeed) {
       speedDiff = this._targetSpeed - speed;
-      speedUpdate = drone._acceleration * delta_time / 1000;
       if (Math.abs(speedDiff) < Math.abs(speedUpdate)) {
         drone._speed = this._targetSpeed;
-        drone._acceleration = 0;
       } else {
         drone._speed += speedUpdate;
       }
     }
   };
 
-  FixedWingDroneAPI.prototype._updatePosition = function (drone, delta_time) {
-    var R = 6371e3,
-      currentGeoCoordinates = this._mapManager.convertToGeoCoordinates(
-        drone.position.x,
-        drone.position.y,
-        drone.position.z
-      ),
-      targetCoordinates = this._mapManager.convertToGeoCoordinates(
-        drone._targetCoordinates.x,
-        drone._targetCoordinates.y,
-        drone._targetCoordinates.z
-      ),
-      bearing = this._computeBearing(
-        currentGeoCoordinates.latitude,
-        currentGeoCoordinates.longitude,
-        targetCoordinates.latitude,
-        targetCoordinates.longitude
-      ),
-      currentCosLat,
-      currentLatRad,
-      distance,
-      distanceCos,
-      distanceSin,
-      distanceToTarget,
-      currentSinLat,
-      currentLonRad,
-      groundSpeed,
-      newCoordinates,
-      newLatRad,
-      newLonRad,
-      newYaw,
-      newYawRad,
-      verticalSpeed,
-      yawToDirection;
-
-    if (this._loiter_mode) {
-      distanceToTarget = Math.sqrt(
-        Math.pow(drone._targetCoordinates.x - drone.position.x, 2)
-          + Math.pow(drone._targetCoordinates.y - drone.position.y, 2)
-      );
-
-      if (Math.abs(distanceToTarget - this._loiter_radius) <= 1) {
-        newYaw = bearing - 90;
-      } else if (distanceToTarget < this._loiter_radius) {
-        newYaw = bearing - 135;
-      } else {
-        newYaw = this._getNewYaw(drone, bearing, delta_time);
-      }
-    } else {
-      newYaw = this._getNewYaw(drone, bearing, delta_time);
-    }
-    newYawRad = this._toRad(newYaw);
-
-    currentLatRad = this._toRad(currentGeoCoordinates.latitude);
-    currentCosLat = Math.cos(currentLatRad);
-    currentSinLat = Math.sin(currentLatRad);
-    currentLonRad = this._toRad(currentGeoCoordinates.longitude);
-
-    verticalSpeed = this._getVerticalSpeed(drone);
-    groundSpeed = Math.sqrt(
-      Math.pow(drone.get3DSpeed(), 2) - Math.pow(verticalSpeed, 2)
-    );
-
-    distance = (groundSpeed * delta_time / 1000) / R;
-    distanceCos = Math.cos(distance);
-    distanceSin = Math.sin(distance);
-
-    newLatRad = Math.asin(
-      currentSinLat * distanceCos +
-        currentCosLat * distanceSin * Math.cos(newYawRad)
-    );
-    newLonRad = currentLonRad + Math.atan2(
-      Math.sin(newYawRad) * distanceSin * currentCosLat,
-      distanceCos - currentSinLat * Math.sin(newLatRad)
-    );
+  FixedWingDroneAPI.prototype._updatePosition =
+    function (drone, yaw, delta_time) {
+      var speed = drone.get3DSpeed(),
+        positionUpdate = speed * delta_time / 1000,
+        yawToDirection = this._toRad(-yaw + 90),
+        zNorm = this._getVerticalSpeed(drone) / speed,
+        xyCoef = Math.sqrt(1 - Math.abs(zNorm));
 
-    newCoordinates = this._mapManager.convertToLocalCoordinates(
-      this._toDeg(newLatRad),
-      this._toDeg(newLonRad),
-      drone.position.z
+      drone.setDirection(
+        xyCoef * Math.cos(yawToDirection),
+        xyCoef * Math.sin(yawToDirection),
+        zNorm
       );
 
-    // swap y and z axis so z axis represents altitude
       drone._controlMesh.position.addInPlace(new BABYLON.Vector3(
-      Math.abs(newCoordinates.x - drone.position.x) *
-        (newCoordinates.x < drone.position.x ? -1 : 1),
-      verticalSpeed * delta_time / 1000,
-      Math.abs(newCoordinates.y - drone.position.y) *
-        (newCoordinates.y < drone.position.y ? -1 : 1)
+        drone._direction.x * positionUpdate,
+        drone._direction.y * positionUpdate,
+        drone._direction.z * positionUpdate
       ));
-    yawToDirection = this._toRad(-newYaw + 90);
-    drone.setDirection(
-      groundSpeed * Math.cos(yawToDirection),
-      groundSpeed * Math.sin(yawToDirection),
-      verticalSpeed
-    );
     };
 
   FixedWingDroneAPI.prototype._getNewYaw =
@@ -289,14 +377,20 @@ var FixedWingDroneAPI = /** @class */ (function () {
     return verticalSpeed;
   };
 
+  FixedWingDroneAPI.prototype._setSpeedInternal = function (speed) {
+    this._targetSpeed = speed;
+  };
+
   FixedWingDroneAPI.prototype.setSpeed = function (drone, speed) {
-    this._targetSpeed = Math.max(
-      Math.min(speed, this.getMaxSpeed()),
-      this.getMinSpeed()
-    );
+    if (speed < this.getMinSpeed()) {
+      throw new Error('Requested speed must be greater than '
+        + this.getMinSpeed());
+    }
+    this._requestedSpeed = Math.min(speed, this.getMaxSpeed());
+    this._setSpeedInternal(this._requestedSpeed * this.getSpeedFactor());
 
-    drone._acceleration = (this._targetSpeed > drone.get3DSpeed()) ?
-        this.getMaxAcceleration() : -this.getMaxDeceleration();
+    drone._acceleration = (this._targetSpeed > drone.get3DSpeed())
+      ? this.getMaxAcceleration() : this.getMaxDeceleration();
   };
 
   FixedWingDroneAPI.prototype.setStartingPosition = function (drone, x, y, z) {
@@ -460,6 +554,9 @@ var FixedWingDroneAPI = /** @class */ (function () {
   FixedWingDroneAPI.prototype.getMaxClimbRate = function () {
     return this._flight_parameters.drone.maxClimbRate;
   };
+  FixedWingDroneAPI.prototype.getSpeedFactor = function () {
+    return this._flight_parameters.drone.speedFactor;
+  };
   FixedWingDroneAPI.prototype.getMaxCommandFrequency = function () {
     return this._flight_parameters.drone.maxCommandFrequency;
   };
@@ -511,7 +608,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
         Math.pow(direction.z * drone.get3DSpeed(), 2)
     );
   };
-  FixedWingDroneAPI.prototype.takeOff = function () {
+  FixedWingDroneAPI.prototype.takeOff = function (drone) {
     return console.log("Fixed-wing drones can only be taken off manually.");
   };
   FixedWingDroneAPI.prototype.land = function (drone) {

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1015.64140.4755.42274</string> </value>
+                      <value> <string>1020.30340.52915.63897</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1713430403.75</float>
+                              <float>1730817258.54</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.js

@@ -426,7 +426,7 @@ var DroneManager = /** @class */ (function () {
     return;
   };
   DroneManager.prototype.takeOff = function () {
-    return this._API.takeOff();
+    return this._API.takeOff(this);
   };
   DroneManager.prototype.land = function () {
     if (!this.isLanding()) {
@@ -773,6 +773,7 @@ var GameManager = /** @class */ (function () {
     }
     this.APIs_dict = {
       FixedWingDroneAPI: FixedWingDroneAPI,
+      MulticopterDroneAPI: MulticopterDroneAPI,
       EnemyDroneAPI: EnemyDroneAPI
     };
     if (this._game_parameters_json.debug_test_mode) {
@@ -895,15 +896,8 @@ var GameManager = /** @class */ (function () {
     if (drone.team === TEAM_ENEMY) {
       return;
     }
-    function distance(a, b) {
-      return Math.sqrt(Math.pow((a.x - b.x), 2) + Math.pow((a.y - b.y), 2) +
-                       Math.pow((a.z - b.z), 2));
-    }
-    if (drone.position) {
-      //TODO epsilon distance is 15 because of fixed wing loiter flights
-      //there is not a proper collision
-      if (distance(drone.position, flag.location) <=
-          this._mapManager.getMapInfo().flag_distance_epsilon) {
+    if (drone.colliderMesh &&
+        drone.colliderMesh.intersectsMesh(flag, true)) {
       drone._internal_crash(new Error('Drone ' + drone.id +
                                       ' touched flag ' + flag.id), false);
       if (flag.weight > 0) {
@@ -911,7 +905,6 @@ var GameManager = /** @class */ (function () {
         drone.score += flag.score; // move score to a global place? GM, MM?
       }
     }
-    }
   };
 
   GameManager.prototype._checkCollision = function (drone, other) {

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1017.23888.64540.55859</string> </value>
+                      <value> <string>1020.30714.54302.56558</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1730211399.63</float>
+                              <float>1730822107.38</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_map_utils_js.js

@@ -5,7 +5,7 @@
 var MapUtils = /** @class */ (function () {
   "use strict";
 
-  var FLAG_EPSILON = 15, R = 6371e3, FLAG_WEIGHT = 5, FLAG_SCORE = 5;
+  var R = 6371e3, FLAG_WEIGHT = 5, FLAG_SCORE = 5;
 
   //** CONSTRUCTOR
   function MapUtils(map_param) {
@@ -27,8 +27,7 @@ var MapUtils = /** @class */ (function () {
     );
     _this.map_info = {
       "depth": _this.map_param.depth,
-      "width": _this.map_param.width,
-      "flag_distance_epsilon": map_param.flag_distance_epsilon || FLAG_EPSILON
+      "width": _this.map_param.width
     };
     _this.map_info.height = _this.map_param.height;
     _this.map_info.start_AMSL = _this.map_param.start_AMSL;

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_map_utils_js.xml

@@ -242,7 +242,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1017.22488.12960.6280</string> </value>
+                      <value> <string>1020.30710.25287.37376</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -262,7 +262,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1718708011.02</float>
+                              <float>1730822161.12</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_multicopterdrone_js.js

+/*global BABYLON, console*/
+/*jslint nomen: true, indent: 2, maxlen: 80, todo: true */
+
+/************************** MULTICOPTER DRONE API ****************************/
+var MulticopterDroneAPI = /** @class */ (function () {
+  "use strict";
+
+  var DEFAULT_SPEED = 5,
+    DEFAULT_TAKEOFF_ALTITUDE = 7,
+    MAX_MESSAGE_SIZE = 1024,
+    VIEW_SCOPE = 100;
+
+  MulticopterDroneAPI.DRONE_TYPE = "Multicopter";
+  MulticopterDroneAPI.SCRIPT_NAME =
+    "gadget_erp5_page_drone_capture_flag_multicopterdrone.js";
+  MulticopterDroneAPI.FORM_VIEW = {
+    "my_drone_max_speed": {
+      "description": "",
+      "title": "Drone max speed",
+      "default": 16,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxSpeed",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_acceleration": {
+      "description": "",
+      "title": "Drone max Acceleration",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxAcceleration",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_deceleration": {
+      "description": "",
+      "title": "Drone max Deceleration",
+      "default": 3,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxDeceleration",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_roll": {
+      "description": "",
+      "title": "Drone max roll",
+      "default": 13,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxRoll",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_speed_factor": {
+      "description": "",
+      "title": "Drone speed factor",
+      "default": 1.2,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "speedFactor",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_min_approach_speed": {
+      "description": "",
+      "title": "Drone min approach speed",
+      "default": 0.1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "minApproachSpeed",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_take_off_factor": {
+      "description": "",
+      "title": "Drone take off factor",
+      "default": 20,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "takeOffFactor",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_yaw_acceptance": {
+      "description": "",
+      "title": "Drone yaw acceptance",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "yawAcceptance",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_command_frequency": {
+      "description": "",
+      "title": "Drone max command frequency",
+      "default": 2,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxCommandFrequency",
+      "hidden": 0,
+      "type": "FloatField"
+    }
+  };
+
+  //** CONSTRUCTOR
+  function MulticopterDroneAPI(gameManager, drone_info, flight_parameters, id) {
+    this._gameManager = gameManager;
+    this._mapManager = this._gameManager._mapManager;
+    this._map_dict = this._mapManager.getMapInfo();
+    this._flight_parameters = flight_parameters;
+    this._id = id;
+    this._drone_info = drone_info;
+    //this._start_altitude = 0;
+    this._is_landing = false;
+    this._is_ready_to_fly = false;
+    this._drone_dict_list = [];
+  }
+  /*
+  ** Function called on start phase of the drone, just before onStart AI script
+  */
+  MulticopterDroneAPI.prototype.internal_start = function (drone) {
+    if (this.getMaxDeceleration() <= 0) {
+      throw new Error('max deceleration must be superior to 0');
+    }
+    if (this.getMaxAcceleration() <= 0) {
+      throw new Error('max acceleration must be superior to 0');
+    }
+    if (this.getMaxSpeed() <= 0) {
+      throw new Error('Max speed must be superior to 0');
+    }
+    drone._speed = drone._targetSpeed = 0;
+    if (this.getMaxRollAngle() <= 0) {
+      throw new Error('max roll angle must be superior to 0');
+    }
+    if (this.getMaxCommandFrequency() <= 0) {
+      throw new Error('max command frequence must be superior to 0');
+    }
+    return;
+  };
+  /*
+  ** Function called on every drone update, right before onUpdate AI script
+  */
+  MulticopterDroneAPI.prototype.internal_position_update =
+    function (context, delta_time) {
+      var currentGeoCoordinates = this._mapManager.convertToGeoCoordinates(
+          context.position.x,
+          context.position.y,
+          context.position.z
+        ),
+        targetCoordinates = this._mapManager.convertToGeoCoordinates(
+          context._targetCoordinates.x,
+          context._targetCoordinates.y,
+          context._targetCoordinates.z
+        ),
+        bearing = this._computeBearing(
+          currentGeoCoordinates.latitude,
+          currentGeoCoordinates.longitude,
+          targetCoordinates.latitude,
+          targetCoordinates.longitude
+        ),
+        newYaw = this._getNewYaw(context, bearing, delta_time);
+
+      if (!this.isReadyToFly() && !this.isLanding()
+          && context.position.z >= DEFAULT_TAKEOFF_ALTITUDE) {
+        this._is_ready_to_fly = true;
+        context._speed = 0;
+      }
+
+      if (Math.abs(bearing - newYaw) < this.getYawAcceptance()) {
+        this._updateSpeed(context, currentGeoCoordinates, targetCoordinates,
+                          delta_time);
+      }
+      this._updatePosition(context, newYaw, delta_time);
+
+      context._controlMesh.computeWorldMatrix(true);
+      context._mesh.computeWorldMatrix(true);
+    };
+  /*
+  ** Function called on every drone update, right after onUpdate AI script
+  */
+  MulticopterDroneAPI.prototype.internal_info_update = function (drone) {
+    var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
+    /*if (_this._start_altitude > 0) { //TODO move start_altitude here
+      _this.reachAltitude(drone);
+    }*/
+    if (drone_position) {
+      drone_info = {
+        'altitudeRel' : drone_position.altitude,
+        'altitudeAbs' : _this._mapManager.getMapInfo().start_AMSL +
+          drone_position.altitude,
+        'latitude' : drone_position.latitude,
+        'longitude' : drone_position.longitude,
+        'yaw': drone.getYaw(),
+        'speed': drone.getSpeed(),
+        'climbRate': drone.getClimbRate(),
+        'timestamp': drone_position.timestamp
+      };
+      _this._drone_dict_list[_this._id] = drone_info;
+      //broadcast drone info using internal msg
+      _this._gameManager._droneList.forEach(function (drone) {
+        if (drone.id !== _this._id) {
+          drone.internal_getMsg(drone_info, _this._id);
+        }
+      });
+    }
+  };
+
+  MulticopterDroneAPI.prototype._updateSpeed =
+    function (drone, currentGeoCoordinates, targetCoordinates, delta_time) {
+      var speed = drone.get3DSpeed(), speedDiff, speedUpdate,
+        distance = Math.sqrt(
+          Math.pow(
+            this._mapManager.mapUtils.latLonDistance(
+              [currentGeoCoordinates.latitude, currentGeoCoordinates.longitude],
+              [targetCoordinates.latitude, targetCoordinates.longitude]
+            ),
+            2
+          ) + Math.pow(
+            targetCoordinates.altitude - currentGeoCoordinates.altitude,
+            2
+          )
+        );
+
+      if (this._targetSpeed > distance) {
+        drone._acceleration = this.getMaxDeceleration();
+        this._targetSpeed = Math.max(distance, this.getMinApproachSpeed());
+      }
+
+      speedUpdate = drone._acceleration * delta_time / 1000;
+      if (speed > this._targetSpeed) {
+        speedUpdate *= -1;
+      }
+
+      if (speed !== this._targetSpeed) {
+        speedDiff = this._targetSpeed - speed;
+        if (Math.abs(speedDiff) < Math.abs(speedUpdate)) {
+          drone._speed = this._targetSpeed;
+        } else {
+          drone._speed += speedUpdate;
+        }
+      }
+    };
+
+  MulticopterDroneAPI.prototype._updatePosition =
+    function (drone, yaw, delta_time) {
+      var positionUpdate = drone.get3DSpeed() * delta_time / 1000,
+        yawToDirection = this._toRad(-yaw + 90),
+        xDiff = drone._targetCoordinates.x - drone.position.x,
+        yDiff = drone._targetCoordinates.y - drone.position.y,
+        zDiff = drone._targetCoordinates.z - drone.position.z,
+        distanceToTarget = Math.sqrt(
+          Math.pow(xDiff, 2) + Math.pow(yDiff, 2) + Math.pow(zDiff, 2)
+        ),
+        zNorm = zDiff / distanceToTarget,
+        xyCoef = Math.sqrt(1 - Math.abs(zNorm));
+
+      drone.setDirection(
+        xyCoef * Math.cos(yawToDirection),
+        xyCoef * Math.sin(yawToDirection),
+        zNorm
+      );
+
+      drone._controlMesh.position.addInPlace(new BABYLON.Vector3(
+        drone._direction.x * positionUpdate,
+        drone._direction.y * positionUpdate,
+        drone._direction.z * positionUpdate
+      ));
+    };
+
+  MulticopterDroneAPI.prototype._getNewYaw =
+    function (drone, bearing, delta_time) {
+      // swap y and z axis so z axis represents altitude
+      var yaw = drone.getYaw(),
+        yawDiff = this._computeYawDiff(yaw, bearing),
+        yawUpdate = this.getYawVelocity(drone) * delta_time / 1000;
+
+      if (yawUpdate >= Math.abs(yawDiff)) {
+        yawUpdate = yawDiff;
+      } else if (yawDiff < 0) {
+        yawUpdate *= -1;
+      }
+      return yaw + yawUpdate;
+    };
+
+  MulticopterDroneAPI.prototype._setSpeedInternal = function (speed) {
+    this._targetSpeed = speed;
+  };
+
+  MulticopterDroneAPI.prototype.setSpeed = function (drone, speed) {
+    if (speed < 0) {
+      throw new Error('Requested speed must positive');
+    }
+
+    this._requestedSpeed = Math.min(speed, this.getMaxSpeed());
+    this._setSpeedInternal(this._requestedSpeed * this.getSpeedFactor());
+
+    drone._acceleration = (this._targetSpeed > drone.get3DSpeed())
+      ? this.getMaxAcceleration() : this.getMaxDeceleration();
+  };
+
+  MulticopterDroneAPI.prototype.setStartingPosition =
+    function (drone, x, y, z) {
+      if (!drone._canPlay) {
+        if (z <= 0.05) {
+          z = 0.05;
+        }
+        drone._controlMesh.position = new BABYLON.Vector3(x, z, y);
+      }
+      drone._controlMesh.computeWorldMatrix(true);
+      drone._mesh.computeWorldMatrix(true);
+    };
+
+  MulticopterDroneAPI.prototype.internal_getMsg = function (msg, id) {
+    this._drone_dict_list[id] = msg;
+  };
+
+  MulticopterDroneAPI.prototype.internal_setTargetCoordinates =
+    function (drone, coordinates, speed, radius) {
+      this.setSpeed(drone, speed);
+    };
+
+  MulticopterDroneAPI.prototype.sendMsg = function (msg, to) {
+    if (JSON.stringify(msg).length > MAX_MESSAGE_SIZE) {
+      //TODO what to do? truncate the msg? log a warning? crash the drone?
+      msg = {"error": "message too long (max 1024)"};
+    }
+    var _this = this,
+      droneList = _this._gameManager._droneList;
+    _this._gameManager.delay(function () {
+      if (to < 0) {
+        // Send to all drones
+        droneList.forEach(function (drone) {
+          if (drone.infosMesh) {
+            try {
+              drone.onGetMsg(msg);
+            } catch (error) {
+              console.warn('Drone crashed on onGetMsg due to error:', error);
+              drone._internal_crash();
+            }
+          }
+        });
+      } else {
+        // Send to specific drone
+        if (droneList[to].infosMesh) {
+          try {
+            droneList[to].onGetMsg(msg);
+          } catch (error) {
+            console.warn('Drone crashed on onGetMsg due to error:', error);
+            droneList[to]._internal_crash();
+          }
+        }
+      }
+    }, _this._flight_parameters.latency.communication);
+  };
+  MulticopterDroneAPI.prototype.log = function (msg) {
+    console.log("API say : " + msg);
+  };
+  MulticopterDroneAPI.prototype.getGameParameter = function (name) {
+    if (["gameTime", "map"].includes(name)) {
+      return this._gameManager.gameParameter[name];
+    }
+  };
+  /*
+  ** Converts geo latitude-longitud coordinates (º) to x,y plane coordinates (m)
+  */
+  MulticopterDroneAPI.prototype.processCoordinates = function (lat, lon, z) {
+    if (isNaN(lat) || isNaN(lon) || isNaN(z)) {
+      throw new Error('Target coordinates must be numbers');
+    }
+    var processed_coordinates =
+      this._mapManager.convertToLocalCoordinates(lat, lon, z);
+    return processed_coordinates;
+  };
+  MulticopterDroneAPI.prototype.getCurrentPosition = function (x, y, z) {
+    return this._mapManager.convertToGeoCoordinates(x, y, z);
+  };
+  MulticopterDroneAPI.prototype.getDroneViewInfo = function (drone) {
+    var context = this, result = { "obstacles": [], "drones": [] }, distance,
+      other_position, drone_position = drone.getCurrentPosition();
+    function calculateDistance(a, b, _this) {
+      return _this._mapManager.latLonDistance([a.latitude, a.longitude],
+                                              [b.latitude, b.longitude]);
+    }
+    context._gameManager._droneList.forEach(function (other) {
+      if (other.can_play && drone.id !== other.id) {
+        other_position = other.getCurrentPosition();
+        distance = calculateDistance(drone_position, other_position, context);
+        if (distance <= VIEW_SCOPE) {
+          result.drones.push({
+            position: other.getCurrentPosition(),
+            direction: other.direction,
+            rotation: other.rotation,
+            speed: other.speed,
+            team: other.team
+          });
+        }
+      }
+    });
+    context._map_dict.obstacle_list.forEach(function (obstacle) {
+      distance = calculateDistance(drone_position, obstacle.position, context);
+      if (distance <= VIEW_SCOPE) {
+        result.obstacles.push(obstacle);
+      }
+    });
+    if (drone.__is_getting_drone_view !== true) {
+      drone.__is_getting_drone_view = true;
+      context._gameManager.delay(function () {
+        drone.__is_getting_drone_view = false;
+        try {
+          drone.onDroneViewInfo(result);
+        } catch (error) {
+          console.warn('Drone crashed on drone view due to error:', error);
+          drone._internal_crash();
+        }
+      }, 1000);
+    }
+  };
+  MulticopterDroneAPI.prototype.getDroneAI = function () {
+    return null;
+  };
+  MulticopterDroneAPI.prototype.getMaxSpeed = function () {
+    return this._flight_parameters.drone.maxSpeed;
+  };
+  MulticopterDroneAPI.prototype.getMaxDeceleration = function () {
+    return this._flight_parameters.drone.maxDeceleration;
+  };
+  MulticopterDroneAPI.prototype.getMaxAcceleration = function () {
+    return this._flight_parameters.drone.maxAcceleration;
+  };
+  MulticopterDroneAPI.prototype.getMaxRollAngle = function () {
+    return this._flight_parameters.drone.maxRoll;
+  };
+  MulticopterDroneAPI.prototype.getMaxSinkRate = function () {
+    return this._flight_parameters.drone.maxSpeed;
+  };
+  MulticopterDroneAPI.prototype.getMaxClimbRate = function () {
+    return this._flight_parameters.drone.maxSpeed;
+  };
+  MulticopterDroneAPI.prototype.getSpeedFactor = function () {
+    return this._flight_parameters.drone.speedFactor;
+  };
+  MulticopterDroneAPI.prototype.getMinApproachSpeed = function () {
+    return this._flight_parameters.drone.minApproachSpeed;
+  };
+  MulticopterDroneAPI.prototype.getTakeOffFactor = function () {
+    return this._flight_parameters.drone.takeOffFactor;
+  };
+  MulticopterDroneAPI.prototype.getYawAcceptance = function () {
+    return this._flight_parameters.drone.yawAcceptance;
+  };
+  MulticopterDroneAPI.prototype.getMaxCommandFrequency = function () {
+    return this._flight_parameters.drone.maxCommandFrequency;
+  };
+  MulticopterDroneAPI.prototype.getYawVelocity = function (drone) {
+    return this.getMaxRollAngle();
+  };
+  MulticopterDroneAPI.prototype.getYaw = function (drone) {
+    var direction = drone.worldDirection;
+    return this._toDeg(Math.atan2(direction.x, direction.z));
+  };
+  MulticopterDroneAPI.prototype._computeBearing =
+      function (lat1, lon1, lat2, lon2) {
+      var dLon = this._toRad(lon2 - lon1),
+        lat1Rad = this._toRad(lat1),
+        lat2Rad = this._toRad(lat2),
+        x = Math.cos(lat2Rad) * Math.sin(dLon),
+        y = Math.cos(lat1Rad) * Math.sin(lat2Rad)
+          - Math.sin(lat1Rad) * Math.cos(lat2Rad) * Math.cos(dLon);
+      return this._toDeg(Math.atan2(x, y));
+    };
+
+  MulticopterDroneAPI.prototype._computeYawDiff = function (yaw1, yaw2) {
+    var diff = yaw2 - yaw1;
+    diff += (diff > 180) ? -360 : (diff < -180) ? 360 : 0;
+    return diff;
+  };
+  MulticopterDroneAPI.prototype._toRad = function (angle) {
+    return angle * Math.PI / 180;
+  };
+  MulticopterDroneAPI.prototype._toDeg = function (angle) {
+    return angle * 180 / Math.PI;
+  };
+  MulticopterDroneAPI.prototype.getClimbRate = function (drone) {
+    return drone.worldDirection.y * drone.get3DSpeed();
+  };
+  MulticopterDroneAPI.prototype.getSpeed = function (drone) {
+    var direction = drone.worldDirection;
+    return Math.sqrt(
+      Math.pow(direction.x * drone.get3DSpeed(), 2)
+        + Math.pow(direction.z * drone.get3DSpeed(), 2)
+    );
+  };
+  MulticopterDroneAPI.prototype.takeOff = function (drone) {
+    var drone_pos = drone.getCurrentPosition();
+    drone._internal_setTargetCoordinates(
+      drone_pos.latitude,
+      drone_pos.longitude,
+      DEFAULT_TAKEOFF_ALTITUDE,
+      DEFAULT_SPEED
+    );
+    drone._acceleration = this.getMaxAcceleration() / this.getTakeOffFactor();
+  };
+  MulticopterDroneAPI.prototype.land = function (drone) {
+    var drone_pos = drone.getCurrentPosition();
+    drone._internal_setTargetCoordinates(
+      drone_pos.latitude,
+      drone_pos.longitude,
+      0,
+      DEFAULT_SPEED
+    );
+    this._is_ready_to_fly = false;
+    this._is_landing = true;
+  };
+  MulticopterDroneAPI.prototype.isReadyToFly = function () {
+    return this._is_ready_to_fly;
+  };
+  MulticopterDroneAPI.prototype.isLanding = function () {
+    return this._is_landing;
+  };
+  MulticopterDroneAPI.prototype.getInitialAltitude = function () {
+    return this._map_dict.start_AMSL;
+  };
+  MulticopterDroneAPI.prototype.getAltitudeAbs = function (altitude) {
+    return altitude + this._map_dict.start_AMSL;
+  };
+  MulticopterDroneAPI.prototype.getMinHeight = function () {
+    return 0;
+  };
+  MulticopterDroneAPI.prototype.getMaxHeight = function () {
+    return 800;
+  };
+  MulticopterDroneAPI.prototype.getOnUpdateInterval = function () {
+    return this._flight_parameters.drone.onUpdateInterval;
+  };
+  MulticopterDroneAPI.prototype.getFlightParameters = function () {
+    return this._flight_parameters;
+  };
+  return MulticopterDroneAPI;
+}());

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_multicopterdrone_js.xml

+<?xml version="1.0"?>
+<ZopeData>
+  <record id="1" aka="AAAAAAAAAAE=">
+    <pickle>
+      <global name="Web Script" module="erp5.portal_type"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_Access_contents_information_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Anonymous</string>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Associate</string>
+                <string>Auditor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_Add_portal_content_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_Change_local_roles_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Assignor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_Modify_portal_content_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_View_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Anonymous</string>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Associate</string>
+                <string>Auditor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>content_md5</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>content_type</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>default_reference</string> </key>
+            <value> <string>gadget_erp5_page_drone_capture_flag_multicopterdrone.js</string> </value>
+        </item>
+        <item>
+            <key> <string>description</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>id</string> </key>
+            <value> <string>drone_capture_flag_multicopterdrone_js</string> </value>
+        </item>
+        <item>
+            <key> <string>language</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>portal_type</string> </key>
+            <value> <string>Web Script</string> </value>
+        </item>
+        <item>
+            <key> <string>short_title</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>title</string> </key>
+            <value> <string>Multicopter Drone (API)</string> </value>
+        </item>
+        <item>
+            <key> <string>version</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>workflow_history</string> </key>
+            <value>
+              <persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="2" aka="AAAAAAAAAAI=">
+    <pickle>
+      <global name="PersistentMapping" module="Persistence.mapping"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>data</string> </key>
+            <value>
+              <dictionary>
+                <item>
+                    <key> <string>document_publication_workflow</string> </key>
+                    <value>
+                      <persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
+                    </value>
+                </item>
+                <item>
+                    <key> <string>edit_workflow</string> </key>
+                    <value>
+                      <persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
+                    </value>
+                </item>
+                <item>
+                    <key> <string>processing_status_workflow</string> </key>
+                    <value>
+                      <persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
+                    </value>
+                </item>
+              </dictionary>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="3" aka="AAAAAAAAAAM=">
+    <pickle>
+      <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_log</string> </key>
+            <value>
+              <list>
+                <dictionary>
+                  <item>
+                      <key> <string>action</string> </key>
+                      <value> <string>publish_alive</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>actor</string> </key>
+                      <value> <unicode>zope</unicode> </value>
+                  </item>
+                  <item>
+                      <key> <string>comment</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>error_message</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>time</string> </key>
+                      <value>
+                        <object>
+                          <klass>
+                            <global name="_reconstructor" module="copy_reg"/>
+                          </klass>
+                          <tuple>
+                            <global name="DateTime" module="DateTime.DateTime"/>
+                            <global name="object" module="__builtin__"/>
+                            <none/>
+                          </tuple>
+                          <state>
+                            <tuple>
+                              <float>1730800031.8</float>
+                              <string>UTC</string>
+                            </tuple>
+                          </state>
+                        </object>
+                      </value>
+                  </item>
+                  <item>
+                      <key> <string>validation_state</string> </key>
+                      <value> <string>published_alive</string> </value>
+                  </item>
+                </dictionary>
+              </list>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="4" aka="AAAAAAAAAAQ=">
+    <pickle>
+      <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_log</string> </key>
+            <value>
+              <list>
+                <dictionary>
+                  <item>
+                      <key> <string>action</string> </key>
+                      <value> <string>edit</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>actor</string> </key>
+                      <value> <unicode>zope</unicode> </value>
+                  </item>
+                  <item>
+                      <key> <string>comment</string> </key>
+                      <value>
+                        <none/>
+                      </value>
+                  </item>
+                  <item>
+                      <key> <string>error_message</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>serial</string> </key>
+                      <value> <string>1020.34636.19071.11520</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>state</string> </key>
+                      <value> <string>current</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>time</string> </key>
+                      <value>
+                        <object>
+                          <klass>
+                            <global name="_reconstructor" module="copy_reg"/>
+                          </klass>
+                          <tuple>
+                            <global name="DateTime" module="DateTime.DateTime"/>
+                            <global name="object" module="__builtin__"/>
+                            <none/>
+                          </tuple>
+                          <state>
+                            <tuple>
+                              <float>1731937150.42</float>
+                              <string>UTC</string>
+                            </tuple>
+                          </state>
+                        </object>
+                      </value>
+                  </item>
+                </dictionary>
+              </list>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="5" aka="AAAAAAAAAAU=">
+    <pickle>
+      <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_log</string> </key>
+            <value>
+              <list>
+                <dictionary>
+                  <item>
+                      <key> <string>action</string> </key>
+                      <value> <string>detect_converted_file</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>actor</string> </key>
+                      <value> <unicode>zope</unicode> </value>
+                  </item>
+                  <item>
+                      <key> <string>comment</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>error_message</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>external_processing_state</string> </key>
+                      <value> <string>converted</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>serial</string> </key>
+                      <value> <string>0.0.0.0</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>time</string> </key>
+                      <value>
+                        <object>
+                          <klass>
+                            <global name="_reconstructor" module="copy_reg"/>
+                          </klass>
+                          <tuple>
+                            <global name="DateTime" module="DateTime.DateTime"/>
+                            <global name="object" module="__builtin__"/>
+                            <none/>
+                          </tuple>
+                          <state>
+                            <tuple>
+                              <float>1730799819.74</float>
+                              <string>UTC</string>
+                            </tuple>
+                          </state>
+                        </object>
+                      </value>
+                  </item>
+                </dictionary>
+              </list>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+</ZopeData>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.html

@@ -146,7 +146,7 @@
 
       <div class="line"></div>
 
-      <h1>Fixed Wings Drone API</h1>
+      <h1>Drone API</h1>
 
       <h3>API functions</h3>
 
@@ -454,7 +454,7 @@
 
       <!-- loiter -->
       <h4 class="item-name" id="loiter"><span>loiter</span><span>: void</span></h4>
-      <p class="item-descr">Set the drone to loiter mode, it will loiter around the target coordinates. If the given radius is inferior to LOITER_LIMIT (30), then the chosen radius will be the last accepted value when calling loiter function (100 by default).</p>
+      <p class="item-descr">Set the drone to loiter mode (only exists for fixed-wings drones), it will loiter around the target coordinates. If the given radius is inferior to LOITER_LIMIT (30), then the chosen radius will be the last accepted value when calling loiter function (100 by default).</p>
 
       <div>
         <h5 class="item-param-1">Param</h5>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.xml

@@ -244,7 +244,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1015.13928.44848.25668</string> </value>
+                      <value> <string>1017.23884.35535.62190</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -264,7 +264,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1710867839.5</float>
+                              <float>1731938073.03</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_html.html

@@ -19,6 +19,10 @@
     <script type="text/javascript" src="./libraries/seedrandom.min.js"></script>
     <script src="gadget_erp5_page_drone_capture_map_utils.js" type="text/javascript"></script>
 
+    <!-- API scripts -->
+    <script src="gadget_erp5_page_drone_capture_flag_fixedwingdrone.js" type="text/javascript"></script>
+    <script src="gadget_erp5_page_drone_capture_flag_multicopterdrone.js" type="text/javascript"></script>
+
     <script src="gadget_erp5_page_drone_capture_flag_script_page.js" type="text/javascript"></script>
 
   </head>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_html.xml

@@ -244,7 +244,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1010.65526.46361.27613</string> </value>
+                      <value> <string>1017.23884.35535.62190</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -264,7 +264,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1694194019.23</float>
+                              <float>1730801080.42</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.js

 /*jslint indent: 2, maxlen: 100*/
-/*global window, rJS, domsugar, document, Blob, MapUtils, RSVP*/
+/*global window, rJS, domsugar, document, Blob, MapUtils, RSVP, FixedWingDroneAPI,
+  MulticopterDroneAPI*/
 
 /******************************* OPERATOR API ********************************/
 var OperatorAPI = /** @class */ (function () {
@@ -23,10 +24,9 @@ var OperatorAPI = /** @class */ (function () {
   return OperatorAPI;
 }());
 
-(function (window, rJS, domsugar, document, Blob, MapUtils, RSVP) {
+(function (window, rJS, domsugar, document, Blob, MapUtils, RSVP, API_LIST) {
   "use strict";
 
-  //Drone default values - TODO: get them from the drone API
   var SIMULATION_SPEED = 60,
     SIMULATION_TIME = 270,
     //default square map
@@ -65,21 +65,10 @@ var OperatorAPI = /** @class */ (function () {
                                    "altitude": 15}}],
       "initial_position": {"latitude": 45.642813275,
                            "longitude": 14.270231599999988,
-                           "altitude": 15}
+                           "altitude": 0}
     },
     DEFAULT_SPEED = 16,
-    MAX_ACCELERATION = 6,
-    MAX_DECELERATION = 1,
-    MIN_SPEED = 12,
-    MAX_SPEED = 26,
-    MAX_ROLL = 35,
-    MIN_PITCH = -20,
-    MAX_PITCH = 25,
-    MAX_CLIMB_RATE = 8,
-    MAX_SINK_RATE = 3,
-    MAX_COMMAND_FREQUENCY = 2,
     NUMBER_OF_DRONES = 5,
-    // Non-inputs parameters
     EPSILON = "15",
     DEFAULT_OPERATOR_SCRIPT = 'var map = operator.getMapJSON();\n' +
       'operator.sendMsg({flag_positions: map.flag_list});\n',
@@ -109,6 +98,7 @@ var OperatorAPI = /** @class */ (function () {
       '  me.direction_set = false;\n' +
       '  me.dodging = false;\n' +
       '  me.ongoing_detection = false;\n' +
+      '  me.takeOff();\n' +
       '};\n' +
       '\n' +
       'me.onGetMsg = function (msg) {\n' +
@@ -119,6 +109,9 @@ var OperatorAPI = /** @class */ (function () {
       '};\n' +
       '\n' +
       'me.onUpdate = function (timestamp) {\n' +
+      '  if (!me.isReadyToFly()) {\n' +
+      '    return;\n' +
+      '  }\n' +
       '  if (!me.flag_positions) return;\n' +
       '  if (me.dodging) {\n' +
       '    me.current_position = me.getCurrentPosition();\n' +
@@ -189,9 +182,10 @@ var OperatorAPI = /** @class */ (function () {
     LOGIC_FILE_LIST = [
       'gadget_erp5_page_drone_capture_flag_logic.js',
       'gadget_erp5_page_drone_capture_map_utils.js',
-      'gadget_erp5_page_drone_capture_flag_fixedwingdrone.js',
       'gadget_erp5_page_drone_capture_flag_enemydrone.js'
-    ],
+    ].concat(API_LIST.map(function (api) {
+      return api.SCRIPT_NAME;
+    })),
     DISPLAY_MAP_PARAMETER = 'display_map_parameter',
     DISPLAY_RANDOMIZE = 'display_randomize',
     DISPLAY_OPERATOR_PARAMETER = 'display_operator_parameter',
@@ -199,6 +193,12 @@ var OperatorAPI = /** @class */ (function () {
     DISPLAY_GAME_PARAMETER = 'display_game_parameter',
     DISPLAY_PLAY = "display_play";
 
+  function getAPI(droneType) {
+    return API_LIST.find(function (api) {
+      return api.DRONE_TYPE === droneType;
+    });
+  }
+
   function renderGadgetHeader(gadget, loading) {
     var element_list = [],
       game_map_icon = 'ui-icon-map-marker',
@@ -534,7 +534,7 @@ var OperatorAPI = /** @class */ (function () {
   // Game parameters
   //////////////////////////////////////////////////
   function renderGameParameterView(gadget) {
-    var form_gadget;
+    var api = getAPI(gadget.state.drone_type), erp5_view, form_gadget;
     renderGadgetHeader(gadget, true);
     return gadget.declareGadget("gadget_erp5_form.html", {
       scope: "parameter_form"
@@ -542,9 +542,21 @@ var OperatorAPI = /** @class */ (function () {
       .push(function (sub_gadget) {
         form_gadget = sub_gadget;
 
-        return form_gadget.render({
-          erp5_document: {
-            "_embedded": {"_view": {
+        erp5_view = {
+          "my_drone_type": {
+            "description": "Type of drone to simulate",
+            "title": "Drone Type",
+            "items": API_LIST.map(function (api) {
+              return api.DRONE_TYPE;
+            }),
+            "value": gadget.state.drone_type,
+            "css_class": "",
+            "required": 1,
+            "editable": 1,
+            "key": "drone_type",
+            "hidden": 0,
+            "type": "ListField"
+          },
           "my_simulation_speed": {
             "description": "",
             "title": "Simulation Speed",
@@ -578,127 +590,6 @@ var OperatorAPI = /** @class */ (function () {
             "hidden": 0,
             "type": "IntegerField"
           },
-              "my_drone_min_speed": {
-                "description": "",
-                "title": "Drone min speed",
-                "default": gadget.state.drone_min_speed,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_min_speed",
-                "hidden": 0,
-                "type": "IntegerField"
-              },
-              "my_drone_speed": {
-                "description": "",
-                "title": "Drone speed",
-                "default": gadget.state.drone_speed,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_speed",
-                "hidden": 0,
-                "type": "FloatField"
-              },
-              "my_drone_max_speed": {
-                "description": "",
-                "title": "Drone max speed",
-                "default": gadget.state.drone_max_speed,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_speed",
-                "hidden": 0,
-                "type": "IntegerField"
-              },
-              "my_drone_max_acceleration": {
-                "description": "",
-                "title": "Drone max Acceleration",
-                "default": gadget.state.drone_max_acceleration,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_acceleration",
-                "hidden": 0,
-                "type": "FloatField"
-              },
-              "my_drone_max_deceleration": {
-                "description": "",
-                "title": "Drone max Deceleration",
-                "default": gadget.state.drone_max_deceleration,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_deceleration",
-                "hidden": 0,
-                "type": "IntegerField"
-              },
-              "my_drone_max_roll": {
-                "description": "",
-                "title": "Drone max roll",
-                "default": gadget.state.drone_max_roll,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_roll",
-                "hidden": 0,
-                "type": "FloatField"
-              },
-              "my_drone_min_pitch": {
-                "description": "",
-                "title": "Drone min pitch",
-                "default": gadget.state.drone_min_pitch,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_min_pitch",
-                "hidden": 0,
-                "type": "FloatField"
-              },
-              "my_drone_max_pitch": {
-                "description": "",
-                "title": "Drone max pitch",
-                "default": gadget.state.drone_max_pitch,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_pitch",
-                "hidden": 0,
-                "type": "FloatField"
-              },
-              "my_drone_max_sink_rate": {
-                "description": "",
-                "title": "Drone max sink rate",
-                "default": gadget.state.drone_max_sink_rate,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_sink_rate",
-                "hidden": 0,
-                "type": "FloatField"
-              },
-              "my_drone_max_climb_rate": {
-                "description": "",
-                "title": "Drone max climb rate",
-                "default": gadget.state.drone_max_climb_rate,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_climb_rate",
-                "hidden": 0,
-                "type": "FloatField"
-              },
-              "my_drone_max_command_frequency": {
-                "description": "",
-                "title": "Drone max command frequency",
-                "default": gadget.state.drone_max_command_frequency,
-                "css_class": "",
-                "required": 1,
-                "editable": 1,
-                "key": "drone_max_command_frequency",
-                "hidden": 0,
-                "type": "FloatField"
-              },
           "my_number_of_drones": {
             "description": "",
             "title": "Number of drones",
@@ -710,7 +601,15 @@ var OperatorAPI = /** @class */ (function () {
             "hidden": 0,
             "type": "IntegerField"
           }
-            }},
+        };
+        Object.keys(api.FORM_VIEW).forEach(function (parameter) {
+          erp5_view[parameter] = api.FORM_VIEW[parameter];
+          erp5_view[parameter].default = gadget.state[erp5_view[parameter].key];
+        });
+
+        return form_gadget.render({
+          erp5_document: {
+            "_embedded": {"_view": erp5_view},
             "_links": {
               "type": {
                 name: ""
@@ -720,15 +619,13 @@ var OperatorAPI = /** @class */ (function () {
           form_definition: {
             group_list: [[
               "left",
-              [["my_simulation_speed"], ["my_simulation_time"], ["my_onupdate_interval"],
-                ["my_number_of_drones"], ["my_map_seed"]]
+              [["my_drone_type"], ["my_simulation_speed"], ["my_simulation_time"],
+                ["my_onupdate_interval"], ["my_number_of_drones"]]
             ], [
               "right",
-              [["my_drone_min_speed"], ["my_drone_speed"], ["my_drone_max_speed"],
-                ["my_drone_max_acceleration"], ["my_drone_max_deceleration"],
-                ["my_drone_max_roll"], ["my_drone_min_pitch"], ["my_drone_max_pitch"],
-                ["my_drone_max_sink_rate"], ["my_drone_max_climb_rate"],
-                ["my_drone_max_command_frequency"]]
+              Object.keys(api.FORM_VIEW).map(function (property_name) {
+                return [property_name];
+              })
             ]]
           }
         });
@@ -806,6 +703,13 @@ var OperatorAPI = /** @class */ (function () {
       });
   }
 
+  function formToFilename(form, drone) {
+    return Object.keys(form).map(function (field_name) {
+      var key = form[field_name].key;
+      return key + "_" + drone[key];
+    });
+  }
+
   rJS(window)
     /////////////////////////////////////////////////////////////////
     // Acquired methods
@@ -817,10 +721,33 @@ var OperatorAPI = /** @class */ (function () {
       return this.triggerSubmit();
     })
 
+    .allowPublicAcquisition('notifyChange', function (argument_list, scope) {
+      return this.triggerAPIChange(scope);
+    })
+
     .declareMethod("triggerSubmit", function () {
       return;
     })
 
+    .declareMethod("triggerAPIChange", function (scope) {
+      var gadget = this,
+        sub_gadget;
+
+      return gadget.getDeclaredGadget(scope)
+        .push(function (result) {
+          sub_gadget = result;
+          return sub_gadget.getContent();
+        })
+        .push(function (result) {
+          if (result.hasOwnProperty("drone_type")
+              && gadget.state.drone_type !== result.drone_type) {
+            return gadget.changeState({
+              drone_type: result.drone_type
+            });
+          }
+        });
+    })
+
     .declareJob('runGame', function runGame(do_nothing) {
       if (do_nothing) {
         // Cancel the previous job execution
@@ -829,13 +756,14 @@ var OperatorAPI = /** @class */ (function () {
       var gadget = this,
         i,
         parsed_map,
-        fragment = gadget.element.querySelector('.simulator_div'),
-        game_parameters_json,
-        drone_list = [];
         fragment = domsugar(gadget.element.querySelector('.simulator_div'),
-                              [domsugar('div')]).firstElementChild;
+                            [domsugar('div')]).firstElementChild,
+        game_parameters_json,
+        drone_list = [],
+        api = getAPI(gadget.state.drone_type),
+        drone_parameter_list = Object.keys(api.FORM_VIEW);
       for (i = 0; i < gadget.state.number_of_drones; i += 1) {
-        drone_list[i] = {"id": i, "type": "FixedWingDroneAPI",
+        drone_list[i] = {"id": i, "type": api.name,
                          "script_content": gadget.state.drone_script};
       }
       try {
@@ -846,17 +774,6 @@ var OperatorAPI = /** @class */ (function () {
       }
       game_parameters_json = {
         "drone": {
-          "maxAcceleration": parseFloat(gadget.state.drone_max_acceleration),
-          "maxDeceleration": parseInt(gadget.state.drone_max_deceleration, 10),
-          "minSpeed": parseInt(gadget.state.drone_min_speed, 10),
-          "speed": parseFloat(gadget.state.drone_speed),
-          "maxSpeed": parseInt(gadget.state.drone_max_speed, 10),
-          "maxRoll": parseFloat(gadget.state.drone_max_roll),
-          "minPitchAngle": parseFloat(gadget.state.drone_min_pitch),
-          "maxPitchAngle": parseFloat(gadget.state.drone_max_pitch),
-          "maxSinkRate": parseFloat(gadget.state.drone_max_sink_rate),
-          "maxClimbRate": parseFloat(gadget.state.drone_max_climb_rate),
-          "maxCommandFrequency": parseFloat(gadget.state.drone_max_command_frequency),
           "onUpdateInterval": parseInt(gadget.state.onupdate_interval, 10),
           "list": drone_list
         },
@@ -873,6 +790,19 @@ var OperatorAPI = /** @class */ (function () {
         "log_drone_flight": LOG,
         "log_interval_time": LOG_TIME
       };
+      drone_parameter_list.forEach(function (parameter) {
+        var field = api.FORM_VIEW[parameter];
+        switch (field.type) {
+        case 'IntegerField':
+          game_parameters_json.drone[field.key] = parseInt(gadget.state[field.key], 10);
+          break;
+        case 'FloatField':
+          game_parameters_json.drone[field.key] = parseFloat(gadget.state[field.key]);
+          break;
+        default:
+          throw new Error("Unhandled field type");
+        }
+      });
       return gadget.declareGadget("babylonjs.gadget.html",
                                   {element: fragment, scope: 'simulator'})
         .push(function () {
@@ -932,18 +862,9 @@ var OperatorAPI = /** @class */ (function () {
               blob = new Blob([log_content], {type: 'text/plain'});
               a = domsugar('a', {
                 text: 'Download Simulation LOG ' + i,
-                download: 'simulation_log_' + i +
-                  '_speed_' + game_parameters_json.drone.speed +
-                  '_min-speed_' + game_parameters_json.drone.minSpeed +
-                  '_max-speed_' + game_parameters_json.drone.maxSpeed +
-                  '_max-accel_' + game_parameters_json.drone.maxAcceleration +
-                  '_max-decel_' + game_parameters_json.drone.maxDeceleration +
-                  '_max-roll_' + game_parameters_json.drone.maxRoll +
-                  '_min-pitch_' + game_parameters_json.drone.minPitchAngle +
-                  '_max-pitch_' + game_parameters_json.drone.maxPitchAngle +
-                  '_max-sink_' + game_parameters_json.drone.maxSinkRate +
-                  '_max-climb_' + game_parameters_json.drone.maxClimbRate +
-                  '.txt',
+                download: ['simulation_log_' + i].concat(
+                  formToFilename(api.FORM_VIEW, game_parameters_json.drone)
+                ).join("_") + ".txt",
                 href: window.URL.createObjectURL(blob)
               });
               log = domsugar('textarea',
@@ -969,20 +890,10 @@ var OperatorAPI = /** @class */ (function () {
     })
 
     .setState({
+      drone_type: API_LIST[0].DRONE_TYPE,
       operator_script: DEFAULT_OPERATOR_SCRIPT,
       drone_script: DEFAULT_SCRIPT_CONTENT,
       number_of_drones: NUMBER_OF_DRONES,
-      drone_max_command_frequency: MAX_COMMAND_FREQUENCY,
-      drone_max_climb_rate: MAX_CLIMB_RATE,
-      drone_max_sink_rate: MAX_SINK_RATE,
-      drone_max_pitch: MAX_PITCH,
-      drone_min_pitch: MIN_PITCH,
-      drone_max_roll: MAX_ROLL,
-      drone_max_deceleration: MAX_DECELERATION,
-      drone_max_acceleration: MAX_ACCELERATION,
-      drone_max_speed: MAX_SPEED,
-      drone_speed: DEFAULT_SPEED,
-      drone_min_speed: MIN_SPEED,
       onupdate_interval: ONUPDATE_INTERVAL,
       simulation_time: SIMULATION_TIME,
       simulation_speed: SIMULATION_SPEED,
@@ -994,10 +905,14 @@ var OperatorAPI = /** @class */ (function () {
     })
 
     .declareMethod('render', function render() {
-      var gadget = this;
-      return gadget.changeState({
-        display_step: DISPLAY_PLAY
-      })
+      var gadget = this,
+        api = getAPI(gadget.state.drone_type),
+        new_state = { display_step: DISPLAY_PLAY };
+      Object.keys(api.FORM_VIEW).forEach(function (parameter) {
+        var field = api.FORM_VIEW[parameter];
+        new_state[field.key] = field.default;
+      });
+      return gadget.changeState(new_state)
         .push(function () {
           return gadget.updateHeader({
             page_title: 'Drone Capture Flag',
@@ -1007,7 +922,7 @@ var OperatorAPI = /** @class */ (function () {
     })
 
     .onStateChange(function (modification_dict) {
-      var gadget = this;
+      var gadget = this, api;
 
       if (gadget.state.display_step === DISPLAY_MAP_PARAMETER) {
         if (modification_dict.hasOwnProperty('display_step')) {
@@ -1048,6 +963,15 @@ var OperatorAPI = /** @class */ (function () {
         return renderPlayView(gadget);
       }
 
+      if (modification_dict.hasOwnProperty('drone_type')) {
+        api = getAPI(gadget.state.drone_type);
+        Object.keys(api.FORM_VIEW).forEach(function (parameter) {
+          var field = api.FORM_VIEW[parameter];
+          gadget.state[field.key] = field.default;
+        });
+        return renderGameParameterView(gadget);
+      }
+
       if (modification_dict.hasOwnProperty('display_step')) {
         throw new Error('Unhandled display step: ' + gadget.state.display_step);
       }
@@ -1170,4 +1094,4 @@ var OperatorAPI = /** @class */ (function () {
 
 
 
-}(window, rJS, domsugar, document, Blob, MapUtils, RSVP));
\ No newline at end of file
+}(window, rJS, domsugar, document, Blob, MapUtils, RSVP, [MulticopterDroneAPI, FixedWingDroneAPI]));
\ No newline at end of file

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1020.20542.569.24900</string> </value>
+                      <value> <string>1020.51982.55228.2918</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1730211735.44</float>
+                              <float>1732098322.73</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js

@@ -6,6 +6,8 @@
 var DroneLogAPI = /** @class */ (function () {
   "use strict";
   var TOP_SPEED = 250; //so fast that it virtually "teleports" to target
+  DroneLogAPI.SCRIPT_NAME =
+    "gadget_erp5_page_drone_simulator_dronelogfollower.js";
   //** CONSTRUCTOR
   function DroneLogAPI(gameManager, drone_info, flight_parameters, id) {
     this._gameManager = gameManager;

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1015.64101.28159.26163</string> </value>
+                      <value> <string>1017.23884.35535.62190</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1713425784.77</float>
+                              <float>1730898672.15</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js → bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixed_wing_drone_js.js

@@ -6,19 +6,147 @@ var FixedWingDroneAPI = /** @class */ (function () {
   "use strict";
 
   // var TAKEOFF_RADIUS = 60,
-  var DEFAULT_SPEED = 16,
-    PARACHUTE_SPEED = 8,
-    EARTH_GRAVITY = 9.81,
+  var EARTH_GRAVITY = 9.81,
     LOITER_LIMIT = 30,
-    MAX_ACCELERATION = 6,
-    MAX_DECELERATION = 1,
-    MIN_SPEED = 12,
-    MAX_SPEED = 26,
-    MAX_ROLL = 35,
-    MIN_PITCH = -20,
-    MAX_PITCH = 25,
-    MAX_CLIMB_RATE = 8,
-    MAX_SINK_RATE = 3;
+    PARACHUTE_SPEED = 8;
+
+  FixedWingDroneAPI.DRONE_TYPE = "Fixed Wings";
+  FixedWingDroneAPI.SCRIPT_NAME =
+    "gadget_erp5_page_drone_simulator_fixedwingdrone.js";
+  FixedWingDroneAPI.FORM_VIEW = {
+    "my_drone_min_speed": {
+      "description": "",
+      "title": "Drone min speed",
+      "default": 12,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "minSpeed",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_speed": {
+      "description": "",
+      "title": "Drone speed",
+      "default": 16,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "speed",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_speed": {
+      "description": "",
+      "title": "Drone max speed",
+      "default": 26,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxSpeed",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_acceleration": {
+      "description": "",
+      "title": "Drone max Acceleration",
+      "default": 6,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxAcceleration",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_deceleration": {
+      "description": "",
+      "title": "Drone max Deceleration",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxDeceleration",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_roll": {
+      "description": "",
+      "title": "Drone max roll",
+      "default": 35,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxRoll",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_min_pitch": {
+      "description": "",
+      "title": "Drone min pitch",
+      "default": -20,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "minPitchAngle",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_pitch": {
+      "description": "",
+      "title": "Drone max pitch",
+      "default": 25,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxPitchAngle",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_sink_rate": {
+      "description": "",
+      "title": "Drone max sink rate",
+      "default": 3,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxSinkRate",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_climb_rate": {
+      "description": "",
+      "title": "Drone max climb rate",
+      "default": 8,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxClimbRate",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_speed_factor": {
+      "description": "",
+      "title": "Drone speed factor",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "speedFactor",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_command_frequency": {
+      "description": "",
+      "title": "Drone max command frequency",
+      "default": 5,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxCommandFrequency",
+      "hidden": 0,
+      "type": "FloatField"
+    }
+  };
 
   //** CONSTRUCTOR
   function FixedWingDroneAPI(gameManager, drone_info, flight_parameters, id) {
@@ -102,9 +230,46 @@ var FixedWingDroneAPI = /** @class */ (function () {
   /*
   ** Function called on every drone update, right before onUpdate AI script
   */
-  FixedWingDroneAPI.prototype.internal_position_update = function (context, delta_time) {
+  FixedWingDroneAPI.prototype.internal_position_update =
+    function (context, delta_time) {
+      var currentGeoCoordinates = this._mapManager.convertToGeoCoordinates(
+          context.position.x,
+          context.position.y,
+          context.position.z
+        ),
+        targetCoordinates = this._mapManager.convertToGeoCoordinates(
+          context._targetCoordinates.x,
+          context._targetCoordinates.y,
+          context._targetCoordinates.z
+        ),
+        bearing = this._computeBearing(
+          currentGeoCoordinates.latitude,
+          currentGeoCoordinates.longitude,
+          targetCoordinates.latitude,
+          targetCoordinates.longitude
+        ),
+        distanceToTarget,
+        newYaw;
+
+      if (this._loiter_mode) {
+        distanceToTarget = Math.sqrt(
+          Math.pow(context._targetCoordinates.x - context.position.x, 2)
+            + Math.pow(context._targetCoordinates.y - context.position.y, 2)
+        );
+
+        if (Math.abs(distanceToTarget - this._loiter_radius) <= 1) {
+          newYaw = bearing - 90;
+        } else if (distanceToTarget < this._loiter_radius) {
+          newYaw = bearing - 135;
+        } else {
+          newYaw = this._getNewYaw(context, bearing, delta_time);
+        }
+      } else {
+        newYaw = this._getNewYaw(context, bearing, delta_time);
+      }
+
       this._updateSpeed(context, delta_time);
-    this._updatePosition(context, delta_time);
+      this._updatePosition(context, newYaw, delta_time);
 
       context._controlMesh.computeWorldMatrix(true);
       context._mesh.computeWorldMatrix(true);
@@ -140,115 +305,42 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
 
   FixedWingDroneAPI.prototype._updateSpeed = function (drone, delta_time) {
-    var speed = drone.get3DSpeed(), speedDiff, speedUpdate;
+    var speed = drone.get3DSpeed(), speedDiff,
+      speedUpdate = drone._acceleration * delta_time / 1000;
+
+    if (speed > this._targetSpeed) {
+      speedUpdate *= -1;
+    }
+
     if (speed !== this._targetSpeed) {
       speedDiff = this._targetSpeed - speed;
-      speedUpdate = drone._acceleration * delta_time / 1000;
       if (Math.abs(speedDiff) < Math.abs(speedUpdate)) {
         drone._speed = this._targetSpeed;
-        drone._acceleration = 0;
       } else {
         drone._speed += speedUpdate;
       }
     }
   };
 
-  FixedWingDroneAPI.prototype._updatePosition = function (drone, delta_time) {
-    var R = 6371e3,
-      currentGeoCoordinates = this._mapManager.convertToGeoCoordinates(
-        drone.position.x,
-        drone.position.y,
-        drone.position.z
-      ),
-      targetCoordinates = this._mapManager.convertToGeoCoordinates(
-        drone._targetCoordinates.x,
-        drone._targetCoordinates.y,
-        drone._targetCoordinates.z
-      ),
-      bearing = this._computeBearing(
-        currentGeoCoordinates.latitude,
-        currentGeoCoordinates.longitude,
-        targetCoordinates.latitude,
-        targetCoordinates.longitude
-      ),
-      currentCosLat,
-      currentLatRad,
-      distance,
-      distanceCos,
-      distanceSin,
-      distanceToTarget,
-      currentSinLat,
-      currentLonRad,
-      groundSpeed,
-      newCoordinates,
-      newLatRad,
-      newLonRad,
-      newYaw,
-      newYawRad,
-      verticalSpeed,
-      yawToDirection;
-
-    if (this._loiter_mode) {
-      distanceToTarget = Math.sqrt(
-        Math.pow(drone._targetCoordinates.x - drone.position.x, 2)
-          + Math.pow(drone._targetCoordinates.y - drone.position.y, 2)
-      );
+  FixedWingDroneAPI.prototype._updatePosition =
+    function (drone, yaw, delta_time) {
+      var speed = drone.get3DSpeed(),
+        positionUpdate = speed * delta_time / 1000,
+        yawToDirection = this._toRad(-yaw + 90),
+        zNorm = this._getVerticalSpeed(drone) / speed,
+        xyCoef = Math.sqrt(1 - Math.abs(zNorm));
 
-      if (Math.abs(distanceToTarget - this._loiter_radius) <= 1) {
-        newYaw = bearing - 90;
-      } else if (distanceToTarget < this._loiter_radius) {
-        newYaw = bearing - 135;
-      } else {
-        newYaw = this._getNewYaw(drone, bearing, delta_time);
-      }
-    } else {
-      newYaw = this._getNewYaw(drone, bearing, delta_time);
-    }
-    newYawRad = this._toRad(newYaw);
-
-    currentLatRad = this._toRad(currentGeoCoordinates.latitude);
-    currentCosLat = Math.cos(currentLatRad);
-    currentSinLat = Math.sin(currentLatRad);
-    currentLonRad = this._toRad(currentGeoCoordinates.longitude);
-
-    verticalSpeed = this._getVerticalSpeed(drone);
-    groundSpeed = Math.sqrt(
-      Math.pow(drone.get3DSpeed(), 2) - Math.pow(verticalSpeed, 2)
-    );
-
-    distance = (groundSpeed * delta_time / 1000) / R;
-    distanceCos = Math.cos(distance);
-    distanceSin = Math.sin(distance);
-
-    newLatRad = Math.asin(
-      currentSinLat * distanceCos
-        + currentCosLat * distanceSin * Math.cos(newYawRad)
-    );
-    newLonRad = currentLonRad + Math.atan2(
-      Math.sin(newYawRad) * distanceSin * currentCosLat,
-      distanceCos - currentSinLat * Math.sin(newLatRad)
-    );
-
-    newCoordinates = this._mapManager.convertToLocalCoordinates(
-      this._toDeg(newLatRad),
-      this._toDeg(newLonRad),
-      drone.position.z
+      drone.setDirection(
+        xyCoef * Math.cos(yawToDirection),
+        xyCoef * Math.sin(yawToDirection),
+        zNorm
       );
 
-    // swap y and z axis so z axis represents altitude
       drone._controlMesh.position.addInPlace(new BABYLON.Vector3(
-      Math.abs(newCoordinates.x - drone.position.x)
-        * (newCoordinates.x < drone.position.x ? -1 : 1),
-      verticalSpeed * delta_time / 1000,
-      Math.abs(newCoordinates.y - drone.position.y)
-        * (newCoordinates.y < drone.position.y ? -1 : 1)
+        drone._direction.x * positionUpdate,
+        drone._direction.y * positionUpdate,
+        drone._direction.z * positionUpdate
       ));
-    yawToDirection = this._toRad(-newYaw + 90);
-    drone.setDirection(
-      groundSpeed * Math.cos(yawToDirection),
-      groundSpeed * Math.sin(yawToDirection),
-      verticalSpeed
-    );
     };
 
   FixedWingDroneAPI.prototype._getNewYaw =
@@ -289,14 +381,20 @@ var FixedWingDroneAPI = /** @class */ (function () {
     return verticalSpeed;
   };
 
+  FixedWingDroneAPI.prototype._setSpeedInternal = function (speed) {
+    this._targetSpeed = speed;
+  };
+
   FixedWingDroneAPI.prototype.setSpeed = function (drone, speed) {
-    this._targetSpeed = Math.max(
-      Math.min(speed, this.getMaxSpeed()),
-      this.getMinSpeed()
-    );
+    if (speed < this.getMinSpeed()) {
+      throw new Error('Requested speed must be greater than '
+        + this.getMinSpeed());
+    }
+    this._requestedSpeed = Math.min(speed, this.getMaxSpeed());
+    this._setSpeedInternal(this._requestedSpeed * this.getSpeedFactor());
 
     drone._acceleration = (this._targetSpeed > drone.get3DSpeed())
-      ? this.getMaxAcceleration() : -this.getMaxDeceleration();
+      ? this.getMaxAcceleration() : this.getMaxDeceleration();
   };
 
   FixedWingDroneAPI.prototype.setStartingPosition = function (drone, x, y, z) {
@@ -412,6 +510,9 @@ var FixedWingDroneAPI = /** @class */ (function () {
   FixedWingDroneAPI.prototype.getMaxClimbRate = function () {
     return this._flight_parameters.drone.maxClimbRate;
   };
+  FixedWingDroneAPI.prototype.getSpeedFactor = function () {
+    return this._flight_parameters.drone.speedFactor;
+  };
   FixedWingDroneAPI.prototype.getMaxCommandFrequency = function () {
     return this._flight_parameters.drone.maxCommandFrequency;
   };
@@ -464,7 +565,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
         + Math.pow(direction.z * drone.get3DSpeed(), 2)
     );
   };
-  FixedWingDroneAPI.prototype.takeOff = function () {
+  FixedWingDroneAPI.prototype.takeOff = function (drone) {
     return console.log("Fixed-wing drones can only be taken off manually.");
   };
   FixedWingDroneAPI.prototype.land = function (drone) {

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml → bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixed_wing_drone_js.xml

@@ -85,7 +85,7 @@
         </item>
         <item>
             <key> <string>id</string> </key>
-            <value> <string>drone_simulator_fixedwingdrone_js</string> </value>
+            <value> <string>drone_simulator_fixed_wing_drone_js</string> </value>
         </item>
         <item>
             <key> <string>language</string> </key>
@@ -240,7 +240,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1015.64203.48820.61559</string> </value>
+                      <value> <string>1020.30338.10759.37171</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -260,7 +260,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1713429850.09</float>
+                              <float>1730799505.92</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js

@@ -376,7 +376,7 @@ var DroneManager = /** @class */ (function () {
     return this._API.getClimbRate(this);
   };
   DroneManager.prototype.takeOff = function () {
-    return this._API.takeOff();
+    return this._API.takeOff(this);
   };
   DroneManager.prototype.land = function () {
     if (!this.isLanding()) {
@@ -649,7 +649,7 @@ var GameManager = /** @class */ (function () {
       header_list = ["timestamp (ms)", "latitude (°)", "longitude (°)",
                      "AMSL (m)", "rel altitude (m)", "yaw (°)",
                      "ground speed (m/s)", "climb rate (m/s)"];
-      for (drone = 0; drone < GAMEPARAMETERS.droneList.length; drone += 1) {
+      for (drone = 0; drone < GAMEPARAMETERS.drone.list.length; drone += 1) {
         this._flight_log[drone] = [];
         this._flight_log[drone].push(header_list);
         this._log_count[drone] = 0;
@@ -671,6 +671,7 @@ var GameManager = /** @class */ (function () {
     }
     this.APIs_dict = {
       FixedWingDroneAPI: FixedWingDroneAPI,
+      MulticopterDroneAPI: MulticopterDroneAPI,
       DroneLogAPI: DroneLogAPI
     };
     if (this._game_parameters_json.debug_test_mode) {
@@ -990,7 +991,7 @@ var GameManager = /** @class */ (function () {
       _this._mapManager = new MapManager(ctx._scene, GAMEPARAMETERS.map,
                                          GAMEPARAMETERS.initialPosition);
       ctx._spawnDrones(_this._mapManager.getMapInfo().initial_position,
-                       GAMEPARAMETERS.droneList, ctx);
+                       GAMEPARAMETERS.drone.list, ctx);
       // Hide the drone prefab
       DroneManager.Prefab.isVisible = false;
       //Hack to make advanced texture work
@@ -1003,7 +1004,7 @@ var GameManager = /** @class */ (function () {
         ctx._scene
       );
       document = documentTmp;
-      for (count = 0; count < GAMEPARAMETERS.droneList.length; count += 1) {
+      for (count = 0; count < GAMEPARAMETERS.drone.list.length; count += 1) {
         controlMesh = ctx._droneList[count].infosMesh;
         rect = new BABYLON.GUI.Rectangle();
         rect.width = "10px";

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml

@@ -240,7 +240,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1017.23929.56045.37085</string> </value>
+                      <value> <string>1020.23547.6727.25736</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -260,7 +260,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1719320607.48</float>
+                              <float>1730712553.54</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_multicopterdrone_js.js

+/*global BABYLON, console*/
+/*jslint nomen: true, indent: 2, maxlen: 80, todo: true */
+
+/************************** MULTICOPTER DRONE API ****************************/
+var MulticopterDroneAPI = /** @class */ (function () {
+  "use strict";
+
+  var DEFAULT_SPEED = 5,
+    DEFAULT_TAKEOFF_ALTITUDE = 7;
+
+  MulticopterDroneAPI.DRONE_TYPE = "Multicopter";
+  MulticopterDroneAPI.SCRIPT_NAME =
+    "gadget_erp5_page_drone_simulator_multicopterdrone.js";
+  MulticopterDroneAPI.FORM_VIEW = {
+    "my_drone_max_speed": {
+      "description": "",
+      "title": "Drone max speed",
+      "default": 16,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxSpeed",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_acceleration": {
+      "description": "",
+      "title": "Drone max Acceleration",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxAcceleration",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_deceleration": {
+      "description": "",
+      "title": "Drone max Deceleration",
+      "default": 3,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxDeceleration",
+      "hidden": 0,
+      "type": "IntegerField"
+    },
+    "my_drone_max_roll": {
+      "description": "",
+      "title": "Drone max roll",
+      "default": 13,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxRoll",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_speed_factor": {
+      "description": "",
+      "title": "Drone speed factor",
+      "default": 1.2,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "speedFactor",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_min_approach_speed": {
+      "description": "",
+      "title": "Drone min approach speed",
+      "default": 0.1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "minApproachSpeed",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_take_off_factor": {
+      "description": "",
+      "title": "Drone take off factor",
+      "default": 20,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "takeOffFactor",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_yaw_acceptance": {
+      "description": "",
+      "title": "Drone yaw acceptance",
+      "default": 1,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "yawAcceptance",
+      "hidden": 0,
+      "type": "FloatField"
+    },
+    "my_drone_max_command_frequency": {
+      "description": "",
+      "title": "Drone max command frequency",
+      "default": 2,
+      "css_class": "",
+      "required": 1,
+      "editable": 1,
+      "key": "maxCommandFrequency",
+      "hidden": 0,
+      "type": "FloatField"
+    }
+  };
+
+  //** CONSTRUCTOR
+  function MulticopterDroneAPI(gameManager, drone_info, flight_parameters, id) {
+    this._gameManager = gameManager;
+    this._mapManager = this._gameManager._mapManager;
+    this._map_dict = this._mapManager.getMapInfo();
+    this._flight_parameters = flight_parameters;
+    this._id = id;
+    this._drone_info = drone_info;
+    //this._start_altitude = 0;
+    this._is_landing = false;
+    this._is_ready_to_fly = false;
+    this._drone_dict_list = [];
+  }
+  Object.defineProperty(MulticopterDroneAPI.prototype, "isCollidable", {
+    get: function () { return true; },
+    enumerable: true,
+    configurable: true
+  });
+  /*
+  ** Function called on start phase of the drone, just before onStart AI script
+  */
+  MulticopterDroneAPI.prototype.internal_start = function (drone) {
+    if (this.getMaxDeceleration() <= 0) {
+      throw new Error('max deceleration must be superior to 0');
+    }
+    if (this.getMaxAcceleration() <= 0) {
+      throw new Error('max acceleration must be superior to 0');
+    }
+    if (this.getMaxSpeed() <= 0) {
+      throw new Error('Max speed must be superior to 0');
+    }
+    drone._speed = drone._targetSpeed = 0;
+    if (this.getMaxRollAngle() <= 0) {
+      throw new Error('max roll angle must be superior to 0');
+    }
+    if (this.getMaxCommandFrequency() <= 0) {
+      throw new Error('max command frequence must be superior to 0');
+    }
+    return;
+  };
+  /*
+  ** Function called on every drone update, right before onUpdate AI script
+  */
+  MulticopterDroneAPI.prototype.internal_position_update =
+    function (context, delta_time) {
+      var currentGeoCoordinates = this._mapManager.convertToGeoCoordinates(
+          context.position.x,
+          context.position.y,
+          context.position.z
+        ),
+        targetCoordinates = this._mapManager.convertToGeoCoordinates(
+          context._targetCoordinates.x,
+          context._targetCoordinates.y,
+          context._targetCoordinates.z
+        ),
+        bearing = this._computeBearing(
+          currentGeoCoordinates.latitude,
+          currentGeoCoordinates.longitude,
+          targetCoordinates.latitude,
+          targetCoordinates.longitude
+        ),
+        newYaw = this._getNewYaw(context, bearing, delta_time);
+
+      if (!this.isReadyToFly() && !this.isLanding()
+          && context.position.z >= DEFAULT_TAKEOFF_ALTITUDE) {
+        this._is_ready_to_fly = true;
+        context._speed = 0;
+      }
+
+      if (Math.abs(bearing - newYaw) < this.getYawAcceptance()) {
+        this._updateSpeed(context, currentGeoCoordinates, targetCoordinates,
+                          delta_time);
+      }
+      this._updatePosition(context, newYaw, delta_time);
+
+      context._controlMesh.computeWorldMatrix(true);
+      context._mesh.computeWorldMatrix(true);
+    };
+  /*
+  ** Function called on every drone update, right after onUpdate AI script
+  */
+  MulticopterDroneAPI.prototype.internal_info_update = function (drone) {
+    var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
+    /*if (_this._start_altitude > 0) { //TODO move start_altitude here
+      _this.reachAltitude(drone);
+    }*/
+    if (drone_position) {
+      drone_info = {
+        'altitudeRel' : drone_position.altitude,
+        'altitudeAbs' : _this._mapManager.getMapInfo().start_AMSL +
+          drone_position.altitude,
+        'latitude' : drone_position.latitude,
+        'longitude' : drone_position.longitude,
+        'yaw': drone.getYaw(),
+        'speed': drone.getSpeed(),
+        'climbRate': drone.getClimbRate(),
+        'timestamp': drone_position.timestamp
+      };
+      _this._drone_dict_list[_this._id] = drone_info;
+      //broadcast drone info using internal msg
+      _this._gameManager._droneList.forEach(function (drone) {
+        if (drone.id !== _this._id) {
+          drone.internal_getMsg(drone_info, _this._id);
+        }
+      });
+    }
+  };
+
+  MulticopterDroneAPI.prototype._updateSpeed =
+    function (drone, currentGeoCoordinates, targetCoordinates, delta_time) {
+      var speed = drone.get3DSpeed(), speedDiff, speedUpdate,
+        distance = Math.sqrt(
+          Math.pow(
+            this._mapManager.mapUtils.latLonDistance(
+              [currentGeoCoordinates.latitude, currentGeoCoordinates.longitude],
+              [targetCoordinates.latitude, targetCoordinates.longitude]
+            ),
+            2
+          ) + Math.pow(
+            targetCoordinates.altitude - currentGeoCoordinates.altitude,
+            2
+          )
+        );
+
+      if (this._targetSpeed > distance) {
+        drone._acceleration = this.getMaxDeceleration();
+        this._targetSpeed = Math.max(distance, this.getMinApproachSpeed());
+      }
+
+      speedUpdate = drone._acceleration * delta_time / 1000;
+      if (speed > this._targetSpeed) {
+        speedUpdate *= -1;
+      }
+
+      if (speed !== this._targetSpeed) {
+        speedDiff = this._targetSpeed - speed;
+        if (Math.abs(speedDiff) < Math.abs(speedUpdate)) {
+          drone._speed = this._targetSpeed;
+        } else {
+          drone._speed += speedUpdate;
+        }
+      }
+    };
+
+  MulticopterDroneAPI.prototype._updatePosition =
+    function (drone, yaw, delta_time) {
+      var positionUpdate = drone.get3DSpeed() * delta_time / 1000,
+        yawToDirection = this._toRad(-yaw + 90),
+        xDiff = drone._targetCoordinates.x - drone.position.x,
+        yDiff = drone._targetCoordinates.y - drone.position.y,
+        zDiff = drone._targetCoordinates.z - drone.position.z,
+        distanceToTarget = Math.sqrt(
+          Math.pow(xDiff, 2) + Math.pow(yDiff, 2) + Math.pow(zDiff, 2)
+        ),
+        zNorm = zDiff / distanceToTarget,
+        xyCoef = Math.sqrt(1 - Math.abs(zNorm));
+
+      drone.setDirection(
+        xyCoef * Math.cos(yawToDirection),
+        xyCoef * Math.sin(yawToDirection),
+        zNorm
+      );
+
+      drone._controlMesh.position.addInPlace(new BABYLON.Vector3(
+        drone._direction.x * positionUpdate,
+        drone._direction.y * positionUpdate,
+        drone._direction.z * positionUpdate
+      ));
+    };
+
+  MulticopterDroneAPI.prototype._getNewYaw =
+    function (drone, bearing, delta_time) {
+      // swap y and z axis so z axis represents altitude
+      var yaw = drone.getYaw(),
+        yawDiff = this._computeYawDiff(yaw, bearing),
+        yawUpdate = this.getYawVelocity(drone) * delta_time / 1000;
+
+      if (yawUpdate >= Math.abs(yawDiff)) {
+        yawUpdate = yawDiff;
+      } else if (yawDiff < 0) {
+        yawUpdate *= -1;
+      }
+      return yaw + yawUpdate;
+    };
+
+  MulticopterDroneAPI.prototype._setSpeedInternal = function (speed) {
+    this._targetSpeed = speed;
+  };
+
+  MulticopterDroneAPI.prototype.setSpeed = function (drone, speed) {
+    if (speed < 0) {
+      throw new Error('Requested speed must positive');
+    }
+
+    this._requestedSpeed = Math.min(speed, this.getMaxSpeed());
+    this._setSpeedInternal(this._requestedSpeed * this.getSpeedFactor());
+
+    drone._acceleration = (this._targetSpeed > drone.get3DSpeed())
+      ? this.getMaxAcceleration() : this.getMaxDeceleration();
+  };
+
+  MulticopterDroneAPI.prototype.setStartingPosition =
+    function (drone, x, y, z) {
+      if (!drone._canPlay) {
+        if (z <= 0.05) {
+          z = 0.05;
+        }
+        drone._controlMesh.position = new BABYLON.Vector3(x, z, y);
+      }
+      drone._controlMesh.computeWorldMatrix(true);
+      drone._mesh.computeWorldMatrix(true);
+    };
+
+  MulticopterDroneAPI.prototype.internal_getMsg = function (msg, id) {
+    this._drone_dict_list[id] = msg;
+  };
+
+  MulticopterDroneAPI.prototype.internal_setTargetCoordinates =
+    function (drone, coordinates, speed, radius) {
+      this.setSpeed(drone, speed);
+    };
+
+  MulticopterDroneAPI.prototype.sendMsg = function (msg, to) {
+    var _this = this,
+      droneList = _this._gameManager._droneList;
+    _this._gameManager.delay(function () {
+      if (to < 0) {
+        // Send to all drones
+        droneList.forEach(function (drone) {
+          if (drone.infosMesh) {
+            try {
+              drone.onGetMsg(msg);
+            } catch (error) {
+              console.warn('Drone crashed on sendMsg due to error:', error);
+              drone._internal_crash();
+            }
+          }
+        });
+      } else {
+        // Send to specific drone
+        if (droneList[to].infosMesh) {
+          try {
+            droneList[to].onGetMsg(msg);
+          } catch (error) {
+            console.warn('Drone crashed on sendMsg due to error:', error);
+            droneList[to]._internal_crash();
+          }
+        }
+      }
+    }, _this._flight_parameters.latency.communication);
+  };
+  MulticopterDroneAPI.prototype.log = function (msg) {
+    console.log("API say : " + msg);
+  };
+  MulticopterDroneAPI.prototype.getGameParameter = function (name) {
+    if (["gameTime", "map"].includes(name)) {
+      return this._gameManager.gameParameter[name];
+    }
+  };
+  /*
+  ** Converts geo latitude-longitud coordinates (º) to x,y plane coordinates (m)
+  */
+  MulticopterDroneAPI.prototype.processCoordinates = function (lat, lon, z) {
+    if (isNaN(lat) || isNaN(lon) || isNaN(z)) {
+      throw new Error('Target coordinates must be numbers');
+    }
+    var processed_coordinates =
+      this._mapManager.convertToLocalCoordinates(lat, lon, z);
+    return processed_coordinates;
+  };
+  MulticopterDroneAPI.prototype.getCurrentPosition = function (x, y, z) {
+    return this._mapManager.convertToGeoCoordinates(x, y, z);
+  };
+  MulticopterDroneAPI.prototype.getDroneAI = function () {
+    return null;
+  };
+  MulticopterDroneAPI.prototype.getMaxSpeed = function () {
+    return this._flight_parameters.drone.maxSpeed;
+  };
+  MulticopterDroneAPI.prototype.getMaxDeceleration = function () {
+    return this._flight_parameters.drone.maxDeceleration;
+  };
+  MulticopterDroneAPI.prototype.getMaxAcceleration = function () {
+    return this._flight_parameters.drone.maxAcceleration;
+  };
+  MulticopterDroneAPI.prototype.getMaxRollAngle = function () {
+    return this._flight_parameters.drone.maxRoll;
+  };
+  MulticopterDroneAPI.prototype.getMaxSinkRate = function () {
+    return this._flight_parameters.drone.maxSpeed;
+  };
+  MulticopterDroneAPI.prototype.getMaxClimbRate = function () {
+    return this._flight_parameters.drone.maxSpeed;
+  };
+  MulticopterDroneAPI.prototype.getSpeedFactor = function () {
+    return this._flight_parameters.drone.speedFactor;
+  };
+  MulticopterDroneAPI.prototype.getMinApproachSpeed = function () {
+    return this._flight_parameters.drone.minApproachSpeed;
+  };
+  MulticopterDroneAPI.prototype.getTakeOffFactor = function () {
+    return this._flight_parameters.drone.takeOffFactor;
+  };
+  MulticopterDroneAPI.prototype.getYawAcceptance = function () {
+    return this._flight_parameters.drone.yawAcceptance;
+  };
+  MulticopterDroneAPI.prototype.getMaxCommandFrequency = function () {
+    return this._flight_parameters.drone.maxCommandFrequency;
+  };
+  MulticopterDroneAPI.prototype.getYawVelocity = function (drone) {
+    return this.getMaxRollAngle();
+  };
+  MulticopterDroneAPI.prototype.getYaw = function (drone) {
+    var direction = drone.worldDirection;
+    return this._toDeg(Math.atan2(direction.x, direction.z));
+  };
+  MulticopterDroneAPI.prototype._computeBearing =
+      function (lat1, lon1, lat2, lon2) {
+      var dLon = this._toRad(lon2 - lon1),
+        lat1Rad = this._toRad(lat1),
+        lat2Rad = this._toRad(lat2),
+        x = Math.cos(lat2Rad) * Math.sin(dLon),
+        y = Math.cos(lat1Rad) * Math.sin(lat2Rad)
+          - Math.sin(lat1Rad) * Math.cos(lat2Rad) * Math.cos(dLon);
+      return this._toDeg(Math.atan2(x, y));
+    };
+
+  MulticopterDroneAPI.prototype._computeYawDiff = function (yaw1, yaw2) {
+    var diff = yaw2 - yaw1;
+    diff += (diff > 180) ? -360 : (diff < -180) ? 360 : 0;
+    return diff;
+  };
+  MulticopterDroneAPI.prototype._toRad = function (angle) {
+    return angle * Math.PI / 180;
+  };
+  MulticopterDroneAPI.prototype._toDeg = function (angle) {
+    return angle * 180 / Math.PI;
+  };
+  MulticopterDroneAPI.prototype.getClimbRate = function (drone) {
+    return drone.worldDirection.y * drone.get3DSpeed();
+  };
+  MulticopterDroneAPI.prototype.getSpeed = function (drone) {
+    var direction = drone.worldDirection;
+    return Math.sqrt(
+      Math.pow(direction.x * drone.get3DSpeed(), 2)
+        + Math.pow(direction.z * drone.get3DSpeed(), 2)
+    );
+  };
+  MulticopterDroneAPI.prototype.takeOff = function (drone) {
+    var drone_pos = drone.getCurrentPosition();
+    drone._internal_setTargetCoordinates(
+      drone_pos.latitude,
+      drone_pos.longitude,
+      DEFAULT_TAKEOFF_ALTITUDE,
+      DEFAULT_SPEED
+    );
+    drone._acceleration = this.getMaxAcceleration() / this.getTakeOffFactor();
+  };
+  MulticopterDroneAPI.prototype.land = function (drone) {
+    var drone_pos = drone.getCurrentPosition();
+    drone._internal_setTargetCoordinates(
+      drone_pos.latitude,
+      drone_pos.longitude,
+      0,
+      DEFAULT_SPEED
+    );
+    this._is_ready_to_fly = false;
+    this._is_landing = true;
+  };
+  MulticopterDroneAPI.prototype.isReadyToFly = function () {
+    return this._is_ready_to_fly;
+  };
+  MulticopterDroneAPI.prototype.isLanding = function () {
+    return this._is_landing;
+  };
+  MulticopterDroneAPI.prototype.getInitialAltitude = function () {
+    return this._map_dict.start_AMSL;
+  };
+  MulticopterDroneAPI.prototype.getAltitudeAbs = function (altitude) {
+    return altitude + this._map_dict.start_AMSL;
+  };
+  MulticopterDroneAPI.prototype.getMinHeight = function () {
+    return 0;
+  };
+  MulticopterDroneAPI.prototype.getMaxHeight = function () {
+    return 800;
+  };
+  MulticopterDroneAPI.prototype.getOnUpdateInterval = function () {
+    return this._flight_parameters.drone.onUpdateInterval;
+  };
+  MulticopterDroneAPI.prototype.getFlightParameters = function () {
+    return this._flight_parameters;
+  };
+  return MulticopterDroneAPI;
+}());

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_multicopterdrone_js.xml

+<?xml version="1.0"?>
+<ZopeData>
+  <record id="1" aka="AAAAAAAAAAE=">
+    <pickle>
+      <global name="Web Script" module="erp5.portal_type"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_Access_contents_information_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Anonymous</string>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Associate</string>
+                <string>Auditor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_Add_portal_content_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_Change_local_roles_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Assignor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_Modify_portal_content_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>_View_Permission</string> </key>
+            <value>
+              <tuple>
+                <string>Anonymous</string>
+                <string>Assignee</string>
+                <string>Assignor</string>
+                <string>Associate</string>
+                <string>Auditor</string>
+                <string>Manager</string>
+              </tuple>
+            </value>
+        </item>
+        <item>
+            <key> <string>content_md5</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>content_type</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>default_reference</string> </key>
+            <value> <string>gadget_erp5_page_drone_simulator_multicopterdrone.js</string> </value>
+        </item>
+        <item>
+            <key> <string>description</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>id</string> </key>
+            <value> <string>drone_simulator_multicopterdrone_js</string> </value>
+        </item>
+        <item>
+            <key> <string>language</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>portal_type</string> </key>
+            <value> <string>Web Script</string> </value>
+        </item>
+        <item>
+            <key> <string>short_title</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>title</string> </key>
+            <value> <string>Multicopter Drone (API)</string> </value>
+        </item>
+        <item>
+            <key> <string>version</string> </key>
+            <value>
+              <none/>
+            </value>
+        </item>
+        <item>
+            <key> <string>workflow_history</string> </key>
+            <value>
+              <persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="2" aka="AAAAAAAAAAI=">
+    <pickle>
+      <global name="PersistentMapping" module="Persistence.mapping"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>data</string> </key>
+            <value>
+              <dictionary>
+                <item>
+                    <key> <string>document_publication_workflow</string> </key>
+                    <value>
+                      <persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
+                    </value>
+                </item>
+                <item>
+                    <key> <string>edit_workflow</string> </key>
+                    <value>
+                      <persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
+                    </value>
+                </item>
+                <item>
+                    <key> <string>processing_status_workflow</string> </key>
+                    <value>
+                      <persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
+                    </value>
+                </item>
+              </dictionary>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="3" aka="AAAAAAAAAAM=">
+    <pickle>
+      <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_log</string> </key>
+            <value>
+              <list>
+                <dictionary>
+                  <item>
+                      <key> <string>action</string> </key>
+                      <value> <string>publish_alive</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>actor</string> </key>
+                      <value> <unicode>zope</unicode> </value>
+                  </item>
+                  <item>
+                      <key> <string>comment</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>error_message</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>time</string> </key>
+                      <value>
+                        <object>
+                          <klass>
+                            <global name="_reconstructor" module="copy_reg"/>
+                          </klass>
+                          <tuple>
+                            <global name="DateTime" module="DateTime.DateTime"/>
+                            <global name="object" module="__builtin__"/>
+                            <none/>
+                          </tuple>
+                          <state>
+                            <tuple>
+                              <float>1700754908.42</float>
+                              <string>UTC</string>
+                            </tuple>
+                          </state>
+                        </object>
+                      </value>
+                  </item>
+                  <item>
+                      <key> <string>validation_state</string> </key>
+                      <value> <string>published_alive</string> </value>
+                  </item>
+                </dictionary>
+              </list>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="4" aka="AAAAAAAAAAQ=">
+    <pickle>
+      <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_log</string> </key>
+            <value>
+              <list>
+                <dictionary>
+                  <item>
+                      <key> <string>action</string> </key>
+                      <value> <string>edit</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>actor</string> </key>
+                      <value> <unicode>zope</unicode> </value>
+                  </item>
+                  <item>
+                      <key> <string>comment</string> </key>
+                      <value>
+                        <none/>
+                      </value>
+                  </item>
+                  <item>
+                      <key> <string>error_message</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>serial</string> </key>
+                      <value> <string>1020.34636.19071.11520</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>state</string> </key>
+                      <value> <string>current</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>time</string> </key>
+                      <value>
+                        <object>
+                          <klass>
+                            <global name="_reconstructor" module="copy_reg"/>
+                          </klass>
+                          <tuple>
+                            <global name="DateTime" module="DateTime.DateTime"/>
+                            <global name="object" module="__builtin__"/>
+                            <none/>
+                          </tuple>
+                          <state>
+                            <tuple>
+                              <float>1731937140.0</float>
+                              <string>UTC</string>
+                            </tuple>
+                          </state>
+                        </object>
+                      </value>
+                  </item>
+                </dictionary>
+              </list>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+  <record id="5" aka="AAAAAAAAAAU=">
+    <pickle>
+      <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
+    </pickle>
+    <pickle>
+      <dictionary>
+        <item>
+            <key> <string>_log</string> </key>
+            <value>
+              <list>
+                <dictionary>
+                  <item>
+                      <key> <string>action</string> </key>
+                      <value> <string>detect_converted_file</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>actor</string> </key>
+                      <value> <unicode>zope</unicode> </value>
+                  </item>
+                  <item>
+                      <key> <string>comment</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>error_message</string> </key>
+                      <value> <string></string> </value>
+                  </item>
+                  <item>
+                      <key> <string>external_processing_state</string> </key>
+                      <value> <string>converted</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>serial</string> </key>
+                      <value> <string>0.0.0.0</string> </value>
+                  </item>
+                  <item>
+                      <key> <string>time</string> </key>
+                      <value>
+                        <object>
+                          <klass>
+                            <global name="_reconstructor" module="copy_reg"/>
+                          </klass>
+                          <tuple>
+                            <global name="DateTime" module="DateTime.DateTime"/>
+                            <global name="object" module="__builtin__"/>
+                            <none/>
+                          </tuple>
+                          <state>
+                            <tuple>
+                              <float>1700754774.95</float>
+                              <string>UTC</string>
+                            </tuple>
+                          </state>
+                        </object>
+                      </value>
+                  </item>
+                </dictionary>
+              </list>
+            </value>
+        </item>
+      </dictionary>
+    </pickle>
+  </record>
+</ZopeData>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_html.html

@@ -19,6 +19,11 @@
     <script src="gadget_global.js" type="text/javascript"></script>
     <script src="domsugar.js" type="text/javascript"></script>
 
+    <!-- API scripts -->
+    <script src="gadget_erp5_page_drone_simulator_fixedwingdrone.js" type="text/javascript"></script>
+    <script src="gadget_erp5_page_drone_simulator_multicopterdrone.js" type="text/javascript"></script>
+    <script src="gadget_erp5_page_drone_simulator_dronelogfollower.js" type="text/javascript"></script>
+
     <script src="gadget_erp5_page_drone_simulator_log_page.js" type="text/javascript"></script>
 
   </head>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_html.xml

@@ -230,7 +230,7 @@
                   </item>
                   <item>
                       <key> <string>actor</string> </key>
-                      <value> <string>zope</string> </value>
+                      <value> <unicode>zope</unicode> </value>
                   </item>
                   <item>
                       <key> <string>comment</string> </key>
@@ -244,7 +244,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1004.22391.16038.6980</string> </value>
+                      <value> <string>1017.23884.35535.62190</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -264,7 +264,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1671109341.4</float>
+                              <float>1730898722.9</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.js

 /*jslint indent: 2, maxlen: 100*/
-/*global window, rJS, domsugar, document*/
-(function (window, rJS, domsugar, document) {
+/*global window, rJS, domsugar, document, DroneLogAPI, FixedWingDroneAPI, MulticopterDroneAPI*/
+(function (window, rJS, domsugar, document, API_LIST) {
   "use strict";
 
   var SIMULATION_SPEED = 200,
@@ -8,16 +8,16 @@
     DRAW = true,
     LOG = false,
     DRONE_LIST = [
-      {"id": 0, "type": "DroneLogAPI", "log_content": ""},
-      {"id": 1, "type": "DroneLogAPI", "log_content": ""}
+      {"id": 0, "type": API_LIST[0].name, "log_content": ""},
+      {"id": 1, "type": API_LIST[0].name, "log_content": ""}
     ],
     WIDTH = 680,
     HEIGHT = 340,
     LOGIC_FILE_LIST = [
-      'gadget_erp5_page_drone_simulator_logic.js',
-      'gadget_erp5_page_drone_simulator_fixedwingdrone.js',
-      'gadget_erp5_page_drone_simulator_dronelogfollower.js'
-    ];
+      'gadget_erp5_page_drone_simulator_logic.js'
+    ].concat(API_LIST.map(function (api) {
+      return api.SCRIPT_NAME;
+    }));
 
   rJS(window)
     /////////////////////////////////////////////////////////////////
@@ -221,7 +221,8 @@
       game_parameters_json = {
         "drone": {
           "maxAcceleration": 1,
-          "maxSpeed": 1
+          "maxSpeed": 1,
+          "list": DRONE_LIST
         },
         "gameTime": SIMULATION_TIME,
         "simulation_speed": parseFloat(options.simulation_speed),
@@ -244,8 +245,7 @@
         },
         "draw_flight_path": DRAW,
         "log_drone_flight": LOG,
-        "temp_flight_path": false,
-        "droneList": DRONE_LIST
+        "temp_flight_path": false
       };
       return gadget.declareGadget("babylonjs.gadget.html",
                                   {element: fragment, scope: 'simulator'})
@@ -295,4 +295,4 @@
         });
     });
 
-}(window, rJS, domsugar, document));
\ No newline at end of file
+}(window, rJS, domsugar, document, [DroneLogAPI, FixedWingDroneAPI, MulticopterDroneAPI]));
\ No newline at end of file

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1011.48769.44767.36898</string> </value>
+                      <value> <string>1020.32016.49807.50141</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1697034365.81</float>
+                              <float>1730900244.98</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_html.html

@@ -19,6 +19,10 @@
     <script src="gadget_global.js" type="text/javascript"></script>
     <script src="domsugar.js" type="text/javascript"></script>
 
+    <!-- API scripts -->
+    <script src="gadget_erp5_page_drone_simulator_fixedwingdrone.js" type="text/javascript"></script>
+    <script src="gadget_erp5_page_drone_simulator_multicopterdrone.js" type="text/javascript"></script>
+
     <script src="gadget_erp5_page_drone_simulator_script_page.js" type="text/javascript"></script>
 
   </head>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_html.xml

@@ -230,7 +230,7 @@
                   </item>
                   <item>
                       <key> <string>actor</string> </key>
-                      <value> <string>zope</string> </value>
+                      <value> <unicode>zope</unicode> </value>
                   </item>
                   <item>
                       <key> <string>comment</string> </key>
@@ -244,7 +244,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1004.65523.1234.17</string> </value>
+                      <value> <string>1020.30362.56361.22715</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -264,7 +264,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1671032907.71</float>
+                              <float>1730800996.91</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.js

 /*jslint indent: 2, maxlen: 100*/
-/*global window, rJS, domsugar, document, Blob*/
-(function (window, rJS, domsugar, document, Blob) {
+/*global window, rJS, domsugar, document, Blob, FixedWingDroneAPI, MulticopterDroneAPI*/
+(function (window, rJS, domsugar, document, Blob, API_LIST) {
   "use strict";
 
-  //Default values - TODO: get them from the drone API
   var SIMULATION_SPEED = 200,
     SIMULATION_TIME = 1500,
     min_lat = 45.6364,
@@ -11,25 +10,14 @@
     min_lon = 14.2521,
     max_lon = 14.2766,
     map_height = 100,
-    start_AMSL = 595,
+    start_AMSL = 100,
     DEFAULT_SPEED = 16,
-    MAX_ACCELERATION = 6,
-    MAX_DECELERATION = 1,
-    MIN_SPEED = 12,
-    MAX_SPEED = 26,
-    MAX_ROLL = 35,
-    MIN_PITCH = -20,
-    MAX_PITCH = 25,
-    MAX_CLIMB_RATE = 8,
-    MAX_SINK_RATE = 3,
-    MAX_COMMAND_FREQUENCY = 2,
     INITIAL_POSITION = {
       "latitude": 45.6412,
       "longitude": 14.2658,
-      "altitude": 15
+      "altitude": 0
     },
     NUMBER_OF_DRONES = 2,
-    // Non-inputs parameters
     DEFAULT_SCRIPT_CONTENT =
       '/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */\n' +
       '/*global console, me*/\n' +
@@ -74,7 +62,7 @@
       '        bearing: 94\n' +
       '      }\n' +
       '    ],\n' +
-      '    R = 6371e3 // meters;\n' +
+      '    R = 6371e3; // meters\n' +
       '\n' +
       '  function to_deg(rad) {\n' +
       '    return rad * 180 / Math.PI;\n' +
@@ -96,8 +84,8 @@
       '      bearing_rad = to_rad(e.bearing);\n' +
       '      relative_d = e.distance / R;\n' +
       '\n' +
-      '      lat_end = Math.asin(Math.sin(lat_start) * Math.cos(relative_d)\n' +
-      '        + Math.cos(lat_start) * Math.sin(relative_d) * Math.cos(bearing_rad));\n' +
+      '      lat_end = Math.asin(Math.sin(lat_start) * Math.cos(relative_d) +\n' +
+      '        Math.cos(lat_start) * Math.sin(relative_d) * Math.cos(bearing_rad));\n' +
       '      lon_end = lon_start + Math.atan2(\n' +
       '        Math.sin(bearing_rad) * Math.sin(relative_d) * Math.cos(lat_start),\n' +
       '        Math.cos(relative_d) - Math.sin(lat_start) * Math.sin(lon_start));\n' +
@@ -145,7 +133,7 @@
       '        me.setTargetCoordinates(\n' +
       '          CHECKPOINT_LIST[me.next_checkpoint].latitude,\n' +
       '          CHECKPOINT_LIST[me.next_checkpoint].longitude,\n' +
-      '          ALTITUDE + ALTITUDE * me.id,\n' +
+      '          ' + start_AMSL + ' + ALTITUDE + ALTITUDE * me.id,\n' +
       '          ' + DEFAULT_SPEED + '\n' +
       '        );\n' +
       '        console.log("[DEMO] Going to Checkpoint", me.next_checkpoint);\n' +
@@ -182,52 +170,64 @@
     LOG = true,
     LOG_TIME = 1662.7915426540285,
     ONUPDATE_INTERVAL = 100,
-    DRONE_LIST = [],
-    WIDTH = 680,
-    HEIGHT = 340,
     LOGIC_FILE_LIST = [
       'gadget_erp5_page_drone_simulator_logic.js',
-      'gadget_erp5_page_drone_simulator_fixedwingdrone.js',
       'gadget_erp5_page_drone_simulator_dronelogfollower.js'
-    ];
+    ].concat(API_LIST.map(function (api) {
+      return api.SCRIPT_NAME;
+    }));
 
-  rJS(window)
-    /////////////////////////////////////////////////////////////////
-    // Acquired methods
-    /////////////////////////////////////////////////////////////////
-    .declareAcquiredMethod("updateHeader", "updateHeader")
-    .declareAcquiredMethod("notifySubmitted", "notifySubmitted")
-
-    .allowPublicAcquisition('notifySubmit', function () {
-      return this.triggerSubmit();
-    })
-
-    .declareMethod("triggerSubmit", function () {
-      return this.element.querySelector('input[type="submit"]').click();
-    })
+  function getAPI(droneType) {
+    return API_LIST.find(function (api) {
+      return api.DRONE_TYPE === droneType;
+    });
+  }
 
-    .onEvent('submit', function () {
-      var gadget = this;
-      return gadget.getDeclaredGadget('form_view')
+  function getContentFromParameterForm(gadget) {
+    return gadget.getDeclaredGadget('parameter_form')
       .push(function (form_gadget) {
         return form_gadget.getContent();
       })
-        .push(function (input) {
-          gadget.runGame(input);
+      .push(function (content_dict) {
+        var key;
+        for (key in content_dict) {
+          if (content_dict.hasOwnProperty(key)) {
+            gadget.state[key] = content_dict[key];
+          }
+        }
       });
+  }
+
+  //////////////////////////////////////////////////
+  // Game parameters
+  //////////////////////////////////////////////////
+  function renderGameParameterView(gadget) {
+    var api = getAPI(gadget.state.drone_type), erp5_view, form_gadget;
+    return gadget.declareGadget("gadget_erp5_form.html", {
+      scope: "parameter_form"
     })
+      .push(function (sub_gadget) {
+        form_gadget = sub_gadget;
 
-    .declareMethod('render', function render() {
-      var gadget = this;
-      return gadget.getDeclaredGadget('form_view')
-        .push(function (form_gadget) {
-          return form_gadget.render({
-            erp5_document: {
-              "_embedded": {"_view": {
+        erp5_view = {
+          "my_drone_type": {
+            "description": "Type of drone to simulate",
+            "title": "Drone Type",
+            "items": API_LIST.map(function (api) {
+              return api.DRONE_TYPE;
+            }),
+            "value": gadget.state.drone_type,
+            "css_class": "",
+            "required": 1,
+            "editable": 1,
+            "key": "drone_type",
+            "hidden": 0,
+            "type": "ListField"
+          },
           "my_simulation_speed": {
             "description": "",
             "title": "Simulation Speed",
-                  "default": SIMULATION_SPEED,
+            "default": gadget.state.simulation_speed,
             "css_class": "",
             "required": 1,
             "editable": 1,
@@ -238,7 +238,7 @@
           "my_simulation_time": {
             "description": "Duration of the simulation (in seconds)",
             "title": "Simulation Time",
-                  "default": SIMULATION_TIME,
+            "default": gadget.state.simulation_time,
             "css_class": "",
             "required": 1,
             "editable": 1,
@@ -249,7 +249,7 @@
           "my_onupdate_interval": {
             "description": "Minimum interval (in milliseconds) between 2 executions of onUpdate function as well as periodicity to send telemetry to the swarm",
             "title": "OnUpdate interval",
-                  "default": ONUPDATE_INTERVAL,
+            "default": gadget.state.onupdate_interval,
             "css_class": "",
             "required": 1,
             "editable": 1,
@@ -257,127 +257,6 @@
             "hidden": 0,
             "type": "IntegerField"
           },
-                "my_drone_min_speed": {
-                  "description": "",
-                  "title": "Drone min speed",
-                  "default": MIN_SPEED,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_min_speed",
-                  "hidden": 0,
-                  "type": "IntegerField"
-                },
-                "my_drone_speed": {
-                  "description": "",
-                  "title": "Drone speed",
-                  "default": DEFAULT_SPEED,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_speed",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
-                "my_drone_max_speed": {
-                  "description": "",
-                  "title": "Drone max speed",
-                  "default": MAX_SPEED,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_speed",
-                  "hidden": 0,
-                  "type": "IntegerField"
-                },
-                "my_drone_max_acceleration": {
-                  "description": "",
-                  "title": "Drone max Acceleration",
-                  "default": MAX_ACCELERATION,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_acceleration",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
-                "my_drone_max_deceleration": {
-                  "description": "",
-                  "title": "Drone max Deceleration",
-                  "default": MAX_DECELERATION,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_deceleration",
-                  "hidden": 0,
-                  "type": "IntegerField"
-                },
-                "my_drone_max_roll": {
-                  "description": "",
-                  "title": "Drone max roll",
-                  "default": MAX_ROLL,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_roll",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
-                "my_drone_min_pitch": {
-                  "description": "",
-                  "title": "Drone min pitch",
-                  "default": MIN_PITCH,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_min_pitch",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
-                "my_drone_max_pitch": {
-                  "description": "",
-                  "title": "Drone max pitch",
-                  "default": MAX_PITCH,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_pitch",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
-                "my_drone_max_sink_rate": {
-                  "description": "",
-                  "title": "Drone max sink rate",
-                  "default": MAX_SINK_RATE,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_sink_rate",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
-                "my_drone_max_climb_rate": {
-                  "description": "",
-                  "title": "Drone max climb rate",
-                  "default": MAX_CLIMB_RATE,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_climb_rate",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
-                "my_drone_max_command_frequency": {
-                  "description": "",
-                  "title": "Drone max command frequency",
-                  "default": MAX_COMMAND_FREQUENCY,
-                  "css_class": "",
-                  "required": 1,
-                  "editable": 1,
-                  "key": "drone_max_command_frequency",
-                  "hidden": 0,
-                  "type": "FloatField"
-                },
           "my_minimum_latitud": {
             "description": "",
             "title": "Minimum latitude",
@@ -480,7 +359,7 @@
           "my_number_of_drones": {
             "description": "",
             "title": "Number of drones",
-                  "default": NUMBER_OF_DRONES,
+            "default": gadget.state.number_of_drones,
             "css_class": "",
             "required": 1,
             "editable": 1,
@@ -488,19 +367,32 @@
             "hidden": 0,
             "type": "IntegerField"
           },
-                "my_script": {
-                  "default": DEFAULT_SCRIPT_CONTENT,
+          "my_drone_script": {
+            "description": "",
+            "title": "Drone script",
+            "default": gadget.state.drone_script,
             "css_class": "",
             "required": 1,
             "editable": 1,
-                  "key": "script",
+            "key": "drone_script",
             "hidden": 0,
-                  "type": "GadgetField",
-                  "renderjs_extra": '{"editor": "codemirror", "maximize": true}',
             "url": "gadget_editor.html",
-                  "sandbox": "public"
+            "renderjs_extra": JSON.stringify({
+              "maximize": true,
+              "language": "en",
+              "portal_type": "Web Script",
+              "editor": "codemirror"
+            }),
+            "type": "GadgetField"
           }
-              }},
+        };
+        Object.keys(api.FORM_VIEW).forEach(function (key) {
+          erp5_view[key] = api.FORM_VIEW[key];
+        });
+
+        return form_gadget.render({
+          erp5_document: {
+            "_embedded": {"_view": erp5_view},
             "_links": {
               "type": {
                 name: ""
@@ -510,84 +402,157 @@
           form_definition: {
             group_list: [[
               "left",
-                [["my_simulation_speed"], ["my_simulation_time"], ["my_onupdate_interval"],
+              [["my_drone_type"], ["my_simulation_speed"], ["my_simulation_time"], ["my_onupdate_interval"],
                 ["my_number_of_drones"], ["my_minimum_latitud"], ["my_maximum_latitud"],
                 ["my_minimum_longitud"], ["my_maximum_longitud"],
                 ["my_init_pos_lat"], ["my_init_pos_lon"], ["my_init_pos_alt"],
                 ["my_map_height"]]
             ], [
               "right",
-                [["my_start_AMSL"], ["my_drone_min_speed"], ["my_drone_speed"],
-                  ["my_drone_max_speed"], ["my_drone_max_acceleration"],
-                  ["my_drone_max_deceleration"], ["my_drone_max_roll"], ["my_drone_min_pitch"],
-                  ["my_drone_max_pitch"], ["my_drone_max_sink_rate"], ["my_drone_max_climb_rate"],
-                  ["my_drone_max_command_frequency"]]
+              [["my_start_AMSL"]].concat(
+                Object.keys(api.FORM_VIEW).map(function (property_name) {
+                  return [property_name];
+                })
+              )
             ], [
               "bottom",
-                [["my_script"]]
+              [["my_drone_script"]]
             ]]
           }
         });
       })
       .push(function () {
-          return gadget.updateHeader({
-            page_title: 'Drone Simulator - Edit and run script',
-            page_icon: 'puzzle-piece'
+        // Attach the form to the page
+        domsugar(gadget.element.querySelector('div[data-gadget-scope="form_view"]'), [
+          form_gadget.element
+        ]);
+      });
+
+  }
+
+  //////////////////////////////////////////////////
+  // Play
+  //////////////////////////////////////////////////
+  function renderPlayView(gadget) {
+    return gadget.declareGadget("gadget_erp5_form.html", {
+      scope: "form_view_babylonjs"
+    })
+      .push(function (sub_gadget) {
+        // Attach the form to the page
+        domsugar(gadget.element.querySelector('div[data-gadget-scope="form_view_babylonjs"]'), [
+          domsugar('div', {
+            'class': 'simulator_div'
+          }),
+          sub_gadget.element
+        ]);
+
+        gadget.runGame();
+      });
+  }
+
+  function formToFilename(form, drone) {
+    return Object.keys(form).map(function (field_name) {
+      var key = form[field_name].key;
+      return key + "_" + drone[key];
+    });
+  }
+
+  rJS(window)
+    /////////////////////////////////////////////////////////////////
+    // Acquired methods
+    /////////////////////////////////////////////////////////////////
+    .declareAcquiredMethod("updateHeader", "updateHeader")
+    .declareAcquiredMethod("notifySubmitted", "notifySubmitted")
+
+    .allowPublicAcquisition('notifySubmit', function () {
+      return this.triggerSubmit();
+    })
+
+    .allowPublicAcquisition('notifyChange', function (argument_list, scope) {
+      return this.triggerAPIChange(scope);
+    })
+
+    .declareMethod("triggerSubmit", function () {
+      return this.element.querySelector('input[type="submit"]').click();
+    })
+
+    .onEvent('submit', function () {
+      return this.getContent();
+    })
+
+    .declareMethod("triggerAPIChange", function (scope) {
+      var gadget = this,
+        sub_gadget;
+
+      return gadget.getDeclaredGadget(scope)
+        .push(function (result) {
+          sub_gadget = result;
+          return sub_gadget.getContent();
+        })
+        .push(function (result) {
+          if (gadget.state.drone_type !== result.drone_type) {
+            return gadget.changeState({
+              drone_type: result.drone_type
             });
+          }
         });
     })
 
-    .declareJob('runGame', function runGame(options) {
+    .declareJob('runGame', function runGame() {
       var gadget = this, i,
-        fragment = gadget.element.querySelector('.simulator_div'),
-        game_parameters_json;
         fragment = domsugar(gadget.element.querySelector('.simulator_div'),
-                              [domsugar('div')]).firstElementChild;
-      DRONE_LIST = [];
-      for (i = 0; i < options.number_of_drones; i += 1) {
-        DRONE_LIST[i] = {"id": i, "type": "FixedWingDroneAPI",
-                         "script_content": options.script};
+                    [domsugar('div')]).firstElementChild,
+        game_parameters_json,
+        drone_list = [],
+        api = getAPI(gadget.state.drone_type),
+        drone_parameter_list = Object.keys(api.FORM_VIEW);
+      for (i = 0; i < gadget.state.number_of_drones; i += 1) {
+        drone_list[i] = {"id": i, "type": api.name,
+                         "script_content": gadget.state.drone_script};
       }
       game_parameters_json = {
         "drone": {
-          "maxAcceleration": parseFloat(options.drone_max_acceleration),
-          "maxDeceleration": parseInt(options.drone_max_deceleration, 10),
-          "minSpeed": parseInt(options.drone_min_speed, 10),
-          "speed": parseFloat(options.drone_speed),
-          "maxSpeed": parseInt(options.drone_max_speed, 10),
-          "maxRoll": parseFloat(options.drone_max_roll),
-          "minPitchAngle": parseFloat(options.drone_min_pitch),
-          "maxPitchAngle": parseFloat(options.drone_max_pitch),
-          "maxSinkRate": parseFloat(options.drone_max_sink_rate),
-          "maxClimbRate": parseFloat(options.drone_max_climb_rate),
-          "maxCommandFrequency": parseFloat(options.drone_max_command_frequency),
-          "onUpdateInterval": parseInt(options.onupdate_interval, 10)
+          "onUpdateInterval": parseInt(gadget.state.onupdate_interval, 10),
+          "list": drone_list
         },
-        "gameTime": parseInt(options.simulation_time, 10),
-        "simulation_speed": parseInt(options.simulation_speed, 10),
+        "gameTime": parseInt(gadget.state.simulation_time, 10),
+        "simulation_speed": parseInt(gadget.state.simulation_speed, 10),
         "latency": {
           "information": 0,
           "communication": 0
         },
         "map": {
-          "min_lat": parseFloat(options.min_lat),
-          "max_lat": parseFloat(options.max_lat),
-          "min_lon": parseFloat(options.min_lon),
-          "max_lon": parseFloat(options.max_lon),
-          "height": parseInt(options.map_height, 10),
-          "start_AMSL": parseFloat(options.start_AMSL)
+          "min_lat": parseFloat(gadget.state.min_lat),
+          "max_lat": parseFloat(gadget.state.max_lat),
+          "min_lon": parseFloat(gadget.state.min_lon),
+          "max_lon": parseFloat(gadget.state.max_lon),
+          "height": parseInt(gadget.state.map_height, 10),
+          "start_AMSL": parseFloat(gadget.state.start_AMSL)
         },
         "initialPosition": {
-          "longitude": parseFloat(options.init_pos_lon),
-          "latitude": parseFloat(options.init_pos_lat),
-          "altitude": parseFloat(options.init_pos_alt)
+          "longitude": parseFloat(gadget.state.init_pos_lon),
+          "latitude": parseFloat(gadget.state.init_pos_lat),
+          "altitude": parseFloat(gadget.state.init_pos_alt)
         },
         "draw_flight_path": DRAW,
         "temp_flight_path": true,
         "log_drone_flight": LOG,
-        "log_interval_time": LOG_TIME,
-        "droneList": DRONE_LIST
+        "log_interval_time": LOG_TIME
       };
+      drone_parameter_list.forEach(function (parameter) {
+        var field = api.FORM_VIEW[parameter];
+        switch (field.type) {
+        case 'IntegerField':
+          game_parameters_json.drone[field.key] = parseInt(gadget.state[field.key], 10);
+          break;
+        case 'FloatField':
+          game_parameters_json.drone[field.key] = parseFloat(gadget.state[field.key]);
+          break;
+        default:
+          throw new Error("Unhandled field type");
+        }
+      });
+
       return gadget.declareGadget("babylonjs.gadget.html",
                                   {element: fragment, scope: 'simulator'})
         .push(function () {
@@ -607,8 +572,7 @@
                   "type": "GadgetField",
                   "url": "babylonjs.gadget.html",
                   "sandbox": "public",
-                  "renderjs_extra": '{"autorun": false, "width": ' + WIDTH + ', ' +
-                    '"height": ' + HEIGHT + ', ' +
+                  "renderjs_extra": '{"autorun": false, ' +
                     '"logic_file_list": ' + JSON.stringify(LOGIC_FILE_LIST) + ', ' +
                     '"game_parameters": ' + JSON.stringify(game_parameters_json) +
                     '}'
@@ -643,18 +607,9 @@
               blob = new Blob([log_content], {type: 'text/plain'});
               a = domsugar('a', {
                 text: 'Download Simulation LOG ' + i,
-                download: 'simulation_log_' + i
-                  + '_speed_' + game_parameters_json.drone.speed
-                  + '_min-speed_' + game_parameters_json.drone.minSpeed
-                  + '_max-speed_' + game_parameters_json.drone.maxSpeed
-                  + '_max-accel_' + game_parameters_json.drone.maxAcceleration
-                  + '_max-decel_' + game_parameters_json.drone.maxDeceleration
-                  + '_max-roll_' + game_parameters_json.drone.maxRoll
-                  + '_min-pitch_' + game_parameters_json.drone.minPitchAngle
-                  + '_max-pitch_' + game_parameters_json.drone.maxPitchAngle
-                  + '_max-sink_' + game_parameters_json.drone.maxSinkRate
-                  + '_max-climb_' + game_parameters_json.drone.maxClimbRate
-                  + '.txt',
+                download: ['simulation_log_' + i].concat(
+                  formToFilename(api.FORM_VIEW, game_parameters_json.drone)
+                ).join("_") + ".txt",
                 href: window.URL.createObjectURL(blob)
               });
               log = domsugar('textarea', { value: log_content, id: 'log_result_' + i });
@@ -670,6 +625,54 @@
           return gadget.notifySubmitted({message: "Error: " + error.message,
                                          status: 'error'});
         });
+    })
+
+    .setState({
+      drone_type: API_LIST[0].DRONE_TYPE,
+      drone_script: DEFAULT_SCRIPT_CONTENT,
+      number_of_drones: NUMBER_OF_DRONES,
+      onupdate_interval: ONUPDATE_INTERVAL,
+      simulation_time: SIMULATION_TIME,
+      simulation_speed: SIMULATION_SPEED,
+      min_lat: min_lat,
+      max_lat: max_lat,
+      min_lon: min_lon,
+      max_lon: max_lon,
+      height: map_height,
+      start_AMSL: start_AMSL,
+      longitude: INITIAL_POSITION.longitude,
+      latitude: INITIAL_POSITION.latitude,
+      altitude: INITIAL_POSITION.altitude
+    })
+
+    .declareMethod('render', function render() {
+      var gadget = this;
+      return renderGameParameterView(gadget)
+        .push(function () {
+          return gadget.updateHeader({
+            page_title: 'Drone Simulator - Edit and run script',
+            page_icon: 'puzzle-piece'
+          });
+        });
+    })
+
+    .onStateChange(function (modification_dict) {
+      var gadget = this;
+
+      if (modification_dict.hasOwnProperty('drone_type')) {
+        return getContentFromParameterForm(this)
+          .push(function () {
+            return renderGameParameterView(gadget);
+          });
+      }
+    })
+
+    .declareMethod('getContent', function () {
+      var gadget = this;
+      return getContentFromParameterForm(this)
+        .push(function () {
+          return renderPlayView(gadget);
         });
+    }, {mutex: 'changestate'});
 
-}(window, rJS, domsugar, document, Blob));
\ No newline at end of file
+}(window, rJS, domsugar, document, Blob, [MulticopterDroneAPI, FixedWingDroneAPI]));
\ No newline at end of file

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1020.29234.48115.42939</string> </value>
+                      <value> <string>1020.49358.42946.36915</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1730734363.63</float>
+                              <float>1731940826.8</float>
                               <string>UTC</string>
                             </tuple>
                           </state>