fix 3d: add 90 deg yaw rotation for plane model

Regression from 13705a1.
Apparently when I tested it, the previous model was still used due to
caching.

app/plot_app/templates/3d.html

@@ -190,6 +190,7 @@
 
 var model_scale_factor = {{ model_scale_factor }}; // model-specific scale factor
 var model_uri = "{{ model_uri }}";
+var model_heading_rotation_deg = "{{ model_heading_rotation_deg }}";
 
 //Make sure viewer is at the desired time.
 viewer.clock.startTime = start.clone();
@@ -242,7 +243,7 @@
     return property;
 }
 
-function computeOrientationProperty() {
+function computeOrientationProperty(heading_rotation_deg) {
 	//var orientationProperty = new Cesium.SampledProperty(Cesium.Quaternion);
 	var orientationProperty = new Cesium.TimeIntervalCollectionProperty();
 
@@ -256,6 +257,9 @@
     var rotation_matrix = new Cesium.Matrix3();
     Cesium.Matrix4.getRotation(transform_matrix, rotation_matrix);
 
+    // Rotate the model to point east
+    var m = Cesium.Matrix3.fromRotationZ(Cesium.Math.toRadians(heading_rotation_deg));
+    rotation_matrix = Cesium.Matrix3.multiply(rotation_matrix, m, new Cesium.Matrix3());
     // rotation quaterion from ENU to ECEF
     var q_enu_to_ecef = Cesium.Quaternion.fromRotationMatrix(rotation_matrix);
 
@@ -299,7 +303,7 @@
 
 //Compute the entity position & orientation properties
 var positionProperty = computePositionProperty(0);
-var orientationProperty = computeOrientationProperty();
+var orientationProperty = computeOrientationProperty(model_heading_rotation_deg);
 
 // flight modes
 var flightModesProperty = new Cesium.TimeIntervalCollectionProperty();

app/tornado_handlers/three_d.py

@@ -156,9 +156,11 @@ def get(self, *args, **kwargs):
         # the model_scale_factor should scale the different models to make them
         # equal in size (in proportion)
         mav_type = ulog.initial_parameters.get('MAV_TYPE', None)
+        model_heading_rotation_deg = 0
         if mav_type == 1: # fixed wing
             model_scale_factor = 0.06
             model_uri = 'plot_app/static/cesium/SampleData/models/CesiumAir/Cesium_Air.glb'
+            model_heading_rotation_deg = 90
         elif mav_type == 7: # Airship, controlled
             model_scale_factor = 0.1
             model_uri = 'plot_app/static/cesium/SampleData/models/CesiumBalloon/CesiumBalloon.glb'
@@ -172,6 +174,7 @@ def get(self, *args, **kwargs):
             # TODO: use the delta-quad model
             model_scale_factor = 0.06
             model_uri = 'plot_app/static/cesium/SampleData/models/CesiumAir/Cesium_Air.glb'
+            model_heading_rotation_deg = 90
         else: # TODO: handle more types
             model_scale_factor = 1
             model_uri = 'plot_app/static/cesium/models/iris/iris.glb'
@@ -190,6 +193,7 @@ def get(self, *args, **kwargs):
             attitude_data=attitude_data,
             model_scale_factor=model_scale_factor,
             model_uri=model_uri,
+            model_heading_rotation_deg=model_heading_rotation_deg,
             log_id=log_id,
             cesium_api_key=get_cesium_api_key()))